iPad Pro note taking workflow

I love my iPad Pro. I love my Apple Pencil. I love taking notes without having to have paper and pen. However, I feel like there are too many "clicks" required to get into note taking mode when there is a need to write something down. I can't just grab the iPad and start writing. To truly replace paper and pen, you have to just be able to jot something down right in the moment. I want this to work, but haven't mastered the workflow yet. Anyone else struggling with this?

Side-note: meanwhile I have an $80 Boogie Board Sync that connects to iOS via Bluetooth and I can just pick up and write with e-ink and it auto syncs to Evernote. It's cool, but I would prefer to have that experience right with my iPad.