Make pdf-tools remember the page I was on

How to make pdftools remember the page I was on when I close a PDF document, restart Emacs and reopen the PDF? Some PDF readers after opening a document go to the last page the user was on and don’t start from the beginning, I’d like Emacs to do the same.

I tried elisp I found on Github ,none of the snippets work for me. When using the last one I get this error when trying to open a PDF that was previously opened:

File mode specification error: (error “Buffer is not associated with
any file :[parent directory name]”)

The PDF opens fine but doesn’t go to the bookmarked page, it starts from the beginning.

I also tried bookmark+. It works but I have to remember to set bookmark manually before closing the PDF which is inconvenient.