How to access not-injected services directly on Symfony 4+?

I'm trying to update Symfony 2.8 to Symfony 4 and I am having serious problems with the Services Injection.

I'm looking the new way to use Services inside Controllers, with auto-wiring:

use App\Service\AuxiliarService;
class DefaultController extends AbstractController
{
    public function index(AuxiliarService $service)
    {
        $var = $service->MyFunction();
        ....

This way works fine, but I dislike the explicit way to refer MyService as a parameter of the function. This way I don't even need to register the Service in the services.yaml

Is any way to use Services as in Symfony 2.8:

class DefaultController extends Controller
    {
        public function index()
        {
            $var = $this->get('AuxiliarService')->MyFunction(); /*Doesn't need to be explicit indicate before*/
            ....

With the services.yaml

services:
    auxiliar_service:
        class:        AppBundle\Services\AuxiliarService
        arguments: 
            entityManager: "@doctrine.orm.entity_manager"
            container: "@service_container" #I need to call services inside the service

This way I don't need to indicate the Service as a parameter in the function of the Controller. In some cases, inside a Service, I need to call more than 10 services depends on the data, so indicate them as a parameter in the function is annoying.

Another doubt in Symfony 4, is how to call a Service inside another Service without pass it as an argument or parameter. It used to be possible by injecting the service container to be able to call a service inside a service:

$this->container->get('anotherService')

In Symfony 4, I think it is more expensive (in code) use Service because you have to explicitely indicate them when you are going to use them.