ZSH: insert completion on first tab even if ambiguous

Currently ZSH displays a menu when I first hit tab and the completion is ambiguous. So, if I have 'cd ' in the command prompt and I hit tab, it will show the different available completions. If I hit tab again, it will select the first available completion.

I would like to merge these two steps into a single press of the tab key. So, if I'm at 'cd ' and I tab, I would like ZSH to insert the first available match (when ambiguous) and display the menu, which I can then tab through if the first match wasn't the directory I had in mind.

The ZSH setup tool put this in my .zshrc, in case any of this is affecting the behavior of my shell:

zstyle ':completion:*' completer _expand _complete _ignored
zstyle ':completion:*' list-colors ''
zstyle ':completion:*' list-prompt %SAt %p: Hit TAB for more, or the character to insert%s
zstyle ':completion:*' matcher-list 'm:{[:lower:][:upper:]}={[:upper:][:lower:]}' '' 'm:{[:lower:][:upper:]}={[:upper:][:lower:]}'
zstyle ':completion:*' menu select=5
zstyle ':completion:*' select-prompt %SScrolling active: current selection at %p%s
zstyle :compinstall filename '/home/robb/.zshrc'