How to transfer playlists from iTunes to my iPhone

I checked online and it seems to me that the only way that I can pair any playlist I create on my computer with my phone is if I have Apple Music. Is this true or am I missing some link? I tried the radio sample and could do it but once I cancelled my subscription ($10 is a little steep just to transfer playlists IMO) the option was gone.

Any answers to what I'm missing?