I thought this might be useful enough to justify a thread so that it can be found easily.
The title screen has a very nice animation to it, but you might not want to watch it every time.
What I have discovered is that, once you have a save file, you can do this:
When the game is loading you click/hit Enter as soon as it starts to go straight to the title screen, just like you always can.
As soon as you get to the title screen, click/hit Enter again and it completes the animation immediately and gives you the Commands box.