Select Settings in the sidebar on the left of your profile.
You will land on the Meetings tab inside settings.
Stay on the Security tab and scroll down.
The Require that all meetings are secured with one security option is enabled by default:
Enable Passcode-related options:
By switching on the Embed passcode in invite link for one-click joinoption, Zoom will encrypt and embed the password in the meeting link so participants can join with one click without having to enter the password.