Wi-Fi Direct request on connection to network

I’ve noticed since I got my phone that every time it connects to my home wifi network, my printer beeps and displays a message asking whether I want to approve a Wifi Direct connection request. The printer is a Brother MFC-L3770CDW.

While I’m able to turn off Wifi Direct on the printer, I’d prefer if the phone didn’t automatically try to connect to printers in general. This happens even after a full reflash of the phone, so it’s not a setting I’ve changed. I haven’t added any printers in Settings > Printers. Does anyone know how to turn this off?