For servicing reasons, you might still want a QD though. I would suggest solder on a ~1' section of wire with a male spade QD end on it. Then connect to a female end on a wire that leads over to your encoder.
No reason to do much beyond leave a dab of solder. If you have connectors with holes in them, weave the wire into the hole before soldering. That will make for a very solid connection, although maybe a tad more difficult if you desolder later on.