Yeah, the entire point of both removing slide to unlock and wanting you to press the home button to unlock the phone is that Apple wants you to actually spend time at the lock screen now. Notifications are richer and more actionable in iOS 10, so you can do things like check your messages and manage your email more easily directly from the notification. Widgets are accessible on the side page, so you can check the weather or your calendar and whatnot without going into an app. Apple doesn't want you to default to going to the home screen anymore, unless you actually need to - if you can do something more quickly from the lock screen instead, they'd like you to do it there.
Also, because I feel like a lot of people have not noticed this or misunderstood this: you do not need Rest Finger to Unlock enabled in order to do the following:
1. Wake the device by pressing the home button.
2. Leave your finger resting on the home button.
3. The device will unlock automatically.
I've confirmed on both a 6 and a 6S that if you wake the screen using the home button and a Touch ID registered finger and just leave your finger there, it will unlock automatically after a split second, even without Rest Finger to Unlock turned on. It's not quite as instant as it was in iOS 9 on the 6S, presumably because on iOS 9 it was so instant you could not really use the lock screen at all (which, again, Apple wants you to do).