The view page offers appropriate links depending on your role and your previous activity in the questionnaire - so it will tell you if you've filled it in before and can only submit once, and it will let you view your & other responses where appropriate. You could also add some helpful guidance above the link by filling in the description when you set up the questionnaire.
Alternatively, you can link direct to the questions {your main url here}/mod/questionnaire/complete.php?id=xxxxx where xxxx is the same as your normal view.php?id=xxxx number. Then you might want to tuck the real questionnaire link away somewhere out of sight (but don't "hide" it otherwise people won't be able to get in. I can't really recommend this though, as people who shouldn't see the questions would get errors displayed.