According to this documentation, I should be able to add -r=false - to the docker daemon - however adding this to the DOCKER_OPTS seems to have no effect.
Rebooting causes it to restart containers that I want to run under supervision.
On ubuntu, this is in /etc/init.d/docker:
DOCKER=/usr/bin/docker
DOCKER_PIDFILE=/var/run/docker.pid
DOCKER_OPTS="-r=false"