bluetooth – AirPods have trouble moving from an iPhone to a Mac

My AirPods are usually connected to my iPhone, but often I want to switch to my Mac and vice versa.

When I Option click on the audio menu, I can select my AirPods and even see their current autonomy. However, when I select them, they do not connect.

Similarly, when they are connected to my Mac, I can not select them on my iPhone. They are paired with both devices.

The only thing that solves this problem is the restart of my Mac or my iPhone (no matter which way I try to connect).

This is heavy though. Is there at least one service or something I can kill that resets my bluetooth on macOS? Any other suggestions to solve this problem?

I use an iPhone X under iOS 12 and my Mac under MacOS Mojave 10.14.