I prefer stiff, touchy, on/off, brakes. When I was using mechanical disc brakes, I always adjusted them so that the pads were almost touching the rotor. This provided the short lever travel I was looking for, as well as great stopping power: I could lift the rear wheel if I pressed the front brake hard enough.
Now, I just got a bike with hydraulic disk brakes (SRAM Apex 1). They are rather soft by comparison. The pads don't touch the rotor until the lever has moved significantly. I can pull the front brake lever all the way to the bar, and I still do not get nearly as much stopping power as I did with the mechanical brakes with half the lever pull.
The modulation is great, but I would really like more stopping power and a firmer lever. Is there a way to adjust this?
In other words, I'm looking for something more like the third scenario in this image, and less like the second.
TLDR: Are there any adjustments for hydraulic road disc brakes (SRAM Apex 1) like there are for their mechanical counterparts?