How to never "allow this device to access photos and videos"?
You don't specify, but I'm guessing you're using a Windows laptop. It's actually an issue on the Windows side of things, because what you're getting the wrong message. That is, if you're supposed to get any message, it should be the Trust this computer message.
The way to fix this (assuming you are in fact on Windows), is to:

Go to your Start menu and open Control Panel

Click on device manager

You should see a list of device types with arrows to the left of their names

Find the one with iPhone listed under it (usually it'll be under the Portable Devices category, but not always)

Right-click on iPhone and select Update Driver Software...

Click browse and navigate to the following location:
C:\Program Files\Common Files\Apple\Mobile Device Support\Drivers

Select it and it should load the driver


NOTES:

I've tried giving you generic instructions as it's not clear what version of Windows you're using.
You should have your iPhone connected in order for Windows to see the device.
Note that you may get the Trust this computer message on your iPhone, but once you opt to trust it then you should be fine to go.