Go to File > Preferences > Settings, search for html.autoClosingTags and set it to false.
This will make it so when you type <div>, it won’t insert </div> automatically, but if you start typing </, it won’t close the tag automatically. You can press ENTER to make it autocomplete for you.
Or you can leave this option enabled and when you type <div> and it autocompletes, you can just press CTRL + Z.
More information on this behavior here.