Set up your lockscreen with a password or pin and the fingerprint sensor.
In the settings, under security, open Smart Lock. Read what it tells you, but in the end set it up so your pixel stays unlocked at home (or work if you work in the same location every day).
When you're home, your phone is unlocked. When you leave home, you use the fingerprint sensor to unlock it. This way, if you lose your phone or it gets stolen nobody can get in and see your stuff.