Ring Alarm - Door Contact Sensor Chirps while Disarmed?

Hello, with the new alarm system, is there a setting where we can have the contact sensors chirp even when it's not necessarily going to "set the alarm off?" In other words, if we're home, I'd still like to know if an exterior door opens if say, one of my kids steps outside, which is fine, but just lets me know they did. Otherwise, I'd like to turn the alarm to "Away" when we leave or at night to set it off if an exterior door is open.