How can I totally remove the Ambient display?

Is there a way to totally remove the Ambient display and have the phone go directly to the lock screen?

I have the Always on display turned off, but I dislike how when I get a notification, the black ambient display lights up instead of the lock screen like how Android usually works.

When I get a notification or when I double tap the screen, is there a way to set it up that it just goes right to the lock screen like the old way?

It's crazy to have to double tap the screen to get the black ambient screen to come up and then double tap again to get the lock screen.