Disconnected session popup

Is there a way to get the " Remote desktop cant find the computer " xxxxxxx" " to stop becoming active when the server is unavailable?

Example - Having 5 RDP session tabs open at once.. and then leaving for the day with those still open and becoming essentially disconnected. When opening computer up from home, it takes awhile for the sessions to time out and then the message above comes up.

Is there a way to fix this so its less annoying??

Thanks