By default, you have to swipe the on-screen icon if you want to answer/reject calls or dismiss alarm/timer/S Planner event. However, you can simplify the way you do those things by enabling the single tap mode so you just need to single tap the on-screen icon instead of swiping it.
How to enable single tap mode?
You can turn this feature on by using two different methods: from the settings menu
Samsung Galaxy S6 Edge: How to Enable and Use Single Tap Mode in Android 5.1.1 Lollipop
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