No. Once launched, QR panels are navigationally detached from Scrivener’s main window. That’s a key part of their design and usefulness.
They may seem inefficient to you, but–respectfully–that’s less about their actual inefficiency and more about your lack of Scrivener knowledge. 
Remedy this by learning more about what QR panels can do.
Read this thread and this one.
Then launch the Interactive Tutorial (Help > About) for an overview of Quick Reference Panels. Read the following documents:
- Draft > Going Further > Referring to More Documents > Quick Reference Panels
- Draft > Going Further > Organization Tools > Using Bookmarks for Project Notes
Once you’ve got an overview, get into the details of QR panels in the Scrivener Manual (F1), in section 12.6 Quick Reference.
You might as well learn about Copyholders too. 
In the Interactive Tutorial, get an overview of Copyholders:
- Draft > Going Further > Referring to More Documents > Copyholders
Then dive into the details in the Scrivener Manual, section 8.1.5 Using Copyholders. The answer to your question above is noted there, but section 12.2.5 Linking Splits Together has a helpful screenshot.
After I read the material suggested above myself, it completely changed the way I work in Scrivener. I hope you find it helpful too. It will give you the background to understand what I was doing in the posts I linked above.
Please feel free to follow-up with questions.
Best,
Jim