Default [Q] Adb.exe - how to connect?

Hi everyone.
I need help with adb.
The problem is, that i don't know how to make "auto connect" with device.
I need connect with cell phone without touch on the screen.
Is ny way to this?

Or, if it is impossible. How to force pop up with connection type menu on the phone screen. I known, that this pop windowe is showing after plug cable, but after five second is hide. How to maintain this pop menu while user choose type connection?

Rest regards.