FaceID only allows you to open the app without typing the password every time. If you log out, you will need to log back in again with your password.
Most people allow the car to be unlocked just by having the phone in proximity as it is very convenient (and losing a phone is not so different than losing a key ... and if you lose your phone, you can easily remove its access right from your car).
But if you really want to manually unlock the car each time (either by using the key card, or by opening the app and clicking “unlock”), then there is a setting to disable the walk-up unlock from inside the car. Go to Controls, Locks, and then deselect the Walk Up Unlock.
