I believe the setting comes from your desktop environment, e.g. GNOME. Not related to LUKS or the encryption.
If GNOME is your desktop environment, you should change GNOME settings. One way is to install dconf-editor
by
sudo apt install dconf-editor
You might be able to find the relevant default setting there.
Edited
I am editting this message as per recommendations provided by felinira (see replies to this message):
For modern versions of gnome (everything from the last decade) you should use dconf-editor instead. The key is org.gnome.shell.remember-mount-password. From the description: "The shell will request a password when an encrypted device or a remote filesystem is mounted. If the password can be saved for future use a “Remember Password” checkbox will be present. This key sets the default state of the checkbox."