Is there a way to log into my macbook from my iMac without getting this box?



My issue is i can log in from my macbook to my iMac so screen share without this message appearing however if my macbook is not being used but left on and I wish to log in from my iMac i keep getting the above request but this means i or someone has to agree to share the screen by click yes on the macbook (so not much use if no one is with the machine....)

Any ideas where i'm going wrong?