Assuming you're talking about the Lock screen (with the Clock, which is also now supposed to be offset to the left, to some users' chargrin) after you open up the cover — you can't.
If your iPad has Touch ID, the "Rest Finger to Open" setting in Accessibility will allow you to jump directly to the Springboard.
If your iPad doesn't have Touch ID, you must press the Home button to display the Passcode screen, then enter the code to unlock and display the Springboard. Simply opening the cover no longer brings you straight to Passcode entry and then the Springboard.
However, not having a passcode set will jump directly to the Springboard after the cover is opened.
That in itself is an inconsistency, since every other wake action displays the Lock/Today/Notification View on the devices I've used. I've found only a smart cover on an unprotected iPad will bypass that mode, but there could be others. Your choice, it seems, is security or convenience, but not both, especially if your device lacks Touch ID.
One of iOS 10's big features is that new view, and Apple wants you to see it whether you find it useful or not.
Let Apple know how pleased your are with their choices.