I love to play with a pick. I'm from the Robert Fripp / Geddy Lee school of playing and for articulation and control nothing beats it. Unfortunately, most of the music I play requires the darker and subtler finger style.
Don't sacrifice your picking for your finger style. Different muscles come into play and only practice will maintain your ability / facility in each style. Try playing an exercise with your fingers and with a pick, keeping the tempo and general feel the same. When you can duplicate the sound and speed of the pick with your fingers you won't be limited to one way of playing. Next, try playing accents at different places in your exercise; slowly at first and gradually building speed. Keep practicing this until you can place and play the accent on any note(s) in the exercise using either fingers or a pick.
Finally, there is a wide range of acceptable technique for bass playing. The important thing is to avoid injury, after that let's try to enjoy what we do.