If I decide to complete Yergius's quests, then usually it's because I want to get the later skills that he offers, not necessarily pick pockets.
Hence a character that doesn't want to pick any pockets would be forced to do so anyway if the skill was passive, as it will always be received first.
As Stingray mentioned, if the skill was toggle-able then sure, it's a nice idea.
However, it would require tweaking and still leaving the option to actively use pick pockets independently from attacking, to reduce the action time in tight situations.
I wouldn't want to be forced to perform extra actions while in melee with a monster like greater moloch, greater wyrm or any given type of more or less nasty monster.