There are 2 ways to do this.
1) When creating the VI that will be the sub-VI, from the menu bar, choose FILE, VI Properties. Then use the drop down menu to choose Window Appearance, and press Customize. Now click on Show Front Panel When Called and Close Afterward if Originally Closed. Now this VI will "Open" every time that it is called.
2) Place the sub VI icon on your diagram and right click on it. Now choose Sub VI Node Setup. Click on Show Front Panel When Called and Close Afterward if Originally Closed. This works for THIS instance of the sub-VI.
Hope this helps.
Rob