It is upto the card issuer to allow you to skip or not - the form is loaded from their server and if they remove the skip option your screwed. The only option for the retailer would be to not go through 3D-Secure at all and thus lose their liability shift (similar to a shop using signature on a chip+pin card).
Maestro cards are mandated for 3D-Secure online, you cannot or at leats should not take them without 3d secure. Also many merchant agreements require the use of 3d secure online.
I have no problem at all with 3D-Secure, unlike the useless CVV (3 digits on back) it has the potential to stop fraud entirely online. What I don't like is the useless implementation the banks are doing - no publicity, no letters, no mandatory registration.
I mean, imagine a scenario where by chip+pin was introduced in the same way? One day you go into a shop and they ask you for a pin, you don't have one so they ask you to confirm your name and enter a pin.
To make this even more absurd, a criminal who has taken your card only has to provide your name (on the card) and dob (drivers license) to get your pin reset - all while stood at the checkout.
Sounds ridiculous but it's exactly what they're doing to 3D Secure.