@manuel , @pebcak thank you for the reply but it is not exactly what I wanted. Yes, it mounts the drive without password but also it requires an entry in fstab.
I was probably more interested it the way how other distros (for example Xubuntu or Manjaro) mounts additional drives through Thunar without a necessity to input password.
It looks like I am able to mount USB drive this way but internal HDD requires password. Is it just about proper configuration of udisks/udev?