There are two different separations. One you just shake the jug, the soap is still dispersed in the liquid, but it's not "perfect". The other separation is when the soap all floats to the top and it is nothing like laundry detergent. It's the latter that needs to be cooked. The former is just normal and just needs a quick shake of the container.
ETA: I know I've mentioned it before, but I noticed that Walmart has unscented fabric softener. I'm going to look for some nice manly scents for George. I've been looking for his old spice scent for soaps, but figured what the hey, if I buy the fabric softener in unscented, I can put some of that fragrance into a small batch for his clothes yet too. I'll obviously be using a different scent for my own clothes, and I'll have to get a unisex scent for when I've got clothes that are a mixed bag of both of our clothes. But, I'm excited. When you just take a square of cloth and dip it into the fabric softener, then wring it out and toss it into the dryer with your clothes, you use FAR less softener than using it in the wash cycle. You can also let your cloth dry and then it can be used for several cycles before needing to be infused again. I personally prefer the wet method though, as it's quicker, less messy and provides more softness for your clothes, but that's just personal preference. Using them dry gives more boost than the store-bought disposable dryer sheets, wet method provides a lot more.
I'm also looking into the dryer balls... Those balls of wool that you toss in with the clothes. It's said that you can infuse these with scents or fabric softener as well.