Automatically will depend a lot on the browser and its options. But you can tell the browser what you want to have happen (which it will then double-check with the user) via the Content-Disposition
header in the response. For instance, setting it to attachment;filename=blah.mp4
will, on most browsers, invite the user to download it (using that filename) even if normally the browser would have tried to display/play the content in its own interface. See the link for details. (Downloading is probably the default for mp4 files, but that's up to the user; I find this helpful when offering download links for HTML files.)
You can set the header via configuration in your web server if you're not using server-side scripting (as you've said you're not). For instance, with Apache you'd use a rule matching the URL for these video files and use the Header
directive.