The answer is the Close button. As of Android Studio v3.4 it's a red square block icon (previously was a red X).
It turns out I couldn't see it because it was hidden under the more >> icon.
In case the X (Close) button is not shown because it is collapsed in the toolbar:
OR
OR
Then press Disconnect in the Dialog.
On android studio 3.3.1 I also can't find an easy way to disconnect the emulator. I've resorted to the terminal command adb kill-server
(use adb start-server
to start it again)
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