How do I prevent the OS X firewall from complaining every app launch?

I recently got my iOS license, and I'm writing some applications. Every time I debug, it seems this is what happens:

1. I choose "Start with debugging". The iOS simulator launches, and Xamarin sits at "Waiting for debugger to connect" for a long time.
2. I stop the app and try "Start with debugging again". This time the splash screen comes up.
3. I get an OS X firewall dialog asking me to give permission for my app to receive incoming connections.
4. If I allow the connection, the app runs.

It feels like there's a misconfiguration somewhere. I've checked the firewall settings in Security & Privacy, and there's entries for my app that are set to "Allow incoming connections". But I guess every time I rebuild the app is "new" to OS X? It's more than a little annoying, and I don't have this happen with programs I write in XCode. How do I work around it?