When using SyncTeX with zathura, it does this automatically:
zathura --synctex-forward 10:1:main.tex main.pdf
searches for zathura instances looking at main.pdf and sends them the command to look at the output of line 10, column 1 in main.tex.
If no instance is open, it opens a new one.
All subsequent calls then just focus the already open one.
When there is no synctex file for the pdf, it works fine.
But if there is a corresponding synctex file and you enter an invalid address, zathura complains in standard output, so the command that I am using for viewing (without synctex) is
zathura --synctex-forward :: main.pdf > /dev/null &
where the :: is so that zathura can parse the synctex command and > /dev/null is to silence the output
Maybe there is another option than hijacking the SyncTeX functionality.