Is there a way to bypass the initial sign-in for SAML users?

I created new users with REST API and wanted them to sign in with their existing SSO user, but they always need to first sign in with the local username/password to be able to use SAML. Is there a way to bypass this?

"Welcome back, {Username}. Please enter your Community sign in name and password. Once you’ve signed in, your SAML Authentication OAuth Client account will be used from now on."