AirPods charging reminder sound

Since the newest update, the charging case also plays a charging reminder sound when I take the AirPods out of the case, which does not make any sense to me because when I take them out, I'm usually on the way or on a walk with no ability to charge the case.

I only want a charging reminder sound when I put them back into the case, how it used to be.

Is this possible to only disable the reminder sound when taking out the AirPods?