Why do I have to unlock incoming calls when my phone is unlocked, but not when my phone is locked?

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Android Central Question

If my screen lock is on and I get an incoming call, all I have to do to answer is swipe the green button, or red if I don't want to answer. If my screen lock is not on, if I'm actually using the phone, I get an icon that I have to unlock first before swiping the green button to answer. How do I make that lock go away?
 
Glad to be here, thanks. I have the Samsung Galaxy S7. I'll try to take a pic of it next time it happens. How do I do that?
To answer your question, the banner notification and Answer and Reject button you are talking about is under another swipe to unlock button when I am actively using the phone for something else. When I am not actively using the phone, I only get the Answer and Reject button.
I do not want the swipe to unlock when I am actively using the phone, exactly like what you just described.
 
I don't have an S7, so I can't be sure if that's how it behaves natively, or if there might be a 3rd party app that's causing that. Does it also happen in Safe Mode? https://support.t-mobile.com/docs/DOC-28008

I suppose the rationale behind that screen might be to prevent accidentally answering or rejecting a call when it comes in if you're in the middle of tapping the the screen for something else (e.g., while typing). But I've never seen that behavior on any of my phones.