Get rid of Guard bundler warning
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How can I get rid of this warning (permanently)

    Guard here! It looks like your project has a Gemfile, yet you are running
         `guard` outside of Bundler. If this is your intent, feel free to ignore this
         message. Otherwise, consider using `bundle exec guard` to ensure your
         dependencies are loaded correctly.

...without having to run `bundle exec guard` every time I launch it? I've worked on teams with more experienced test developers who've managed to get rid of this warning before, but I can't seem to figure it out.