If you go to Settings > Display > Lock Screen > "Always show time and info" and turn it on, it'll always show the time, notification icons and the fingerprint icon to show you where to position your finger. It does say that this reduces battery life.

I keep "Lift to check phone" on as if I need to unlock my phone, I'm usually going to lift it up into my hands. Unfortunately it and "Tap to check phone" are a bit buggy and don't always work correctly.