Bypassing internal doors when arming at home

I put sensor at every internal room door. When arming while at home I want to be able to automatically bypass internal doors so I and guests can open and close the room doors without the alarm going off. How do I do this. I know if I leave the door opener the alarm will as to bypass those sensors however this is not practical. I want to be able to arm while automatically bypassing those while I'm at home. How do I do this?