Once you've entered the password, you'll typically never need to do it again on that device as your computer will remember it. Typically shown with a padlock beside their name in your Wi-Fi menu, encrypted networks ask for a password in a standard dialog like the one above. The best solution is also the most secure one: opt for only encrypted Wi-Fi connections. You have to do that on a custom login screen, and that's what often just won't load. With a coffee shop or airport Wi-Fi, though, often you need to create an account or enter a code from a receipt before browsing the full internet. If you connect to an open network at your friend's house, say, typically you won't need a password and can just start browsing the internet directly.
That's only a problem only with open, public, unsecured Wi-Fi networks. The typical problem with public Wi-Fi is the login screen not showing up. When possible, always opt for a secure network, often shown with a padlock