Select one of the actions and tell it to use it every time.
Then it won't ask again unless you clear the setting, or else install another app that can handle the action (in which case it will, quite reasonably, ask again in case you want the new app to be used instead).
If this doesn't work and you've not installed new apps then there's something wrong, in which case please post again with this information (ideally also what phone, what OS version, and which action/apps it's not remembering the setting for).