To avoid giving the prompt you wish on the command line all the time, you can configure the prompt via the ~/.irbrc config file:
$ echo "IRB.conf[:PROMPT_MODE] = :DEFAULT" > ~/.irbrc
$ irb
irb(main):001:0> quit
$ echo "IRB.conf[:PROMPT_MODE] = :SIMPLE" > ~/.irbrc
$ irb
>> quit
$