No.
It doesn't ask you when the previous device is available and:
1. You compile with Alt + 3 (background compilation).
2. Or when a full compilation is not needed in debug mode.
Switching devices will break the quick deployment feature. Cleaning the project (Ctrl + P) will force it to do a full compilation and it will then ask you for the target device.
If you want to disable the quick deployment feature, which I think is a mistake to do:
#DebuggerForceFullDeployment: true