Most of us think of finger plucking and pick playing as two separate sounds, and learn to use both to achieve those sounds, switching back and forth as the musical situation demands it.
If you are having trouble getting the same presence with fingers compared to a pick, it might involve changing some amp settings for finger playing. Try increasing the volume on the amp as well as EQing out frequencies you don't care for. Finger plucking can produce a more subdued tone compared to the pick. To prove that, just play the bass acoustically with no amp turned on. When you play with a pick, you can hear the bass alot better right?