Hmm, my version of Discord either points me at the friends list or restores previous state with 2 or 3 taps max to message a friend. (top left hamburger menu, tap friends, pick a friend)
I was speakng about android. I think there's a vast difference between 0 and 2-3 interactions. I mean in many ways, Discord is 2 apps in one, you swap between them by swapping between the servers and friends views, and I think its worth recognizing that fact.
Is what you describe specific to iOS version?
What is missing most is video chat.