Unless the insurance rules have changed over the years, you can notify your insurance company of an 'event', but decline to submit a 'claim' for the damages to your vehicle. In this manner, your insurance company is aware of the event, and they can receive and process any claims that might be submitted by the other party involved in the event. And, you are covered legally, because you 'notified' your insurance company of the event.
As a young and crazy driver way back in the day, this was the only that I could keep my insurance and have it still be affordable, though I had to pay for my own repairs. My body shop actually stocked my paint on the shelf in the shop, since I was such a frequent visitor.