Not with auto-increment. If you really want, you can change your INSERTs to insert the id specifically, and set it to something like 1+(select max(id) from your_table_name), although you might want to modify that slightly to behave properly if there are no rows in the table when it's used. If you do this make sure it's all part of one insert query, not a select followed by an insert.
But why are you worried about the "neat"ness? If you want to display things with sequential numbers, just do that some other way and don't show the id.
