If you are willing to disable Tool pane in Adobe Reader DC, then yes it can be done by making a slight change in the Reader's preferences setting.
Here are the steps of how you can disable Tool pane, please refer: Permanently close the Tools pane in Acrobat Reader DC
Hope this helps!
Thanks very much for this - it confused me because "right click" calls it the "Task Pane" but the Preferences option calls it the "Tools Pane".
I can see documents full size in the Window now when I open them, rather than having a quarter of the window full of the "Tools" pane, then having to minimise this before closing it completely as well. If I want to use Tools I can always use the "Tools" drop-down menu.