Afaik, no setting is available to change the tendency to return swapped pages to RAM. You could, if you wish that, work with a script that checks RAM and SWAP, and turns swap off/back on when it is safe. On a memory limited system, that may be never: the only option there to clear swapped memory is to close down processes that own them.
It is not clear what the benefits will be for you to immediately move SWAP back to RAM whenever it is possible. Linux automatically manages the swap. If it does not release the occupied swap, it is because that swapped memory is not needed and thus can happily remain on the disk until needed. This way, ram and processor time are spared for use of the applications where it matters. Your disk is spared in that swap operations are minimized.
How fast swap kicks in depends on your swappiness
setting, but also depends on the amount of RAM you have. You did not mention the amount of RAM you have. Based on your experience, one can assume that either you have little RAM (perhaps 2 GB or less), or that you are using specific applications that have unusual memory needs.
In the first case, you may need to change your computer use habits to account for the limitations of low RAM, until you can upgrade physical RAM. Swap is in no way a replacement of RAM, it is only a trick to extend it somewhat and allow somewhat more on a RAM limited system.
In the second case, then leave it alone: your system behaves optimally, swapping out unused RAM to leave it to your memory hogging work.