Silencing countdown timer on keypad

When I arm the system in Home, I find the countdown beeping to be very annoying. For example, if it's late at night and I put the system into Home, I don't want loud beeps waking up my family.

Is there some option to silence the countdown that I'm missing? I know I can set the exit delay to 0, but that doesn't work for me as we sometimes use Home when leaving the house.