LG enV VX-9900

I've connected my Bluetooth headset, but unlike many people, I only use it in the car which means that I don't often have it turned on. What I'm finding is that it won't connect when I have an incoming call unless I turn the headset on and manually connect it to the phone BEFORE the call comes in. That's a massive pain in the ass. Is there a better way to make this happen automatically?