It sounds like you're playing chords by plucking strings one at a time. Unless you're playing arpeggios, that's not the best way to do it: Try strumming them all in a row, in a fluid motion.
Keep in mind that some pick noise is inevitable, even desirable. In the studio, I do everything I can to emphasize incidental noises like the pick hitting the strings, the noises made by the flautist clicking the keys, or the vocalist inhaling before singing a line. It's what makes music sound human and relatable.
Unless you're getting a truly horrifically loud series of clicks when playing, don't worry about it too much. Listen to other players, and you'll hear that, to a point, this is normal and natural.
However, lighter nylon picks (like the ones put out by Clayton, for example) can mitigate this, as can lighter strings (although those would reduce the volume the strings produce, I think). There are also hybrid silk/steel strings that can give you a softer sound. (I'm guessing you're playing guitar with steel strings; classical guitars with nylon strings are generally not played with a plectrum.)
Like Matthew wrote in his answer, hold the pick more softly and play more gently and subtly. You'll have a better dynamic range, a less percussive sound, and you'll have better control over your instrument.
You also ask about playing without a pick. Sure, you can do that, but you'll be playing what's known as fingerstyle playing, a very different sort of music than strummed guitar. You'll also be wearing down the fingernails on your strumming hand, so you'll want to prepare for that.