After restarting my computer, I can always connect my bluetooth headphones just fine. However, if they disconnect (intentionally or not) I open the device under "Devices and Printers" and connect again. I can always connect to "Forward VoIP Calls to Handsfree" but often not to "Listen to Music." Why would I be able to connect to one and not the other? I would rather not restart every time I wish to listen to music.
Note: Upon clicking "Listen to Music" (or "Retry" after it has failed once), it immediately reads "Connection failed" seemingly without attempting to connect. A successful connection always takes at least a moment to connect.