I like to fill it cold, like the Bentley says, then bleed it hot afterwards. My reasoning for this is to get any air trapped behind the t-stat while doing it cold.
I'll normally try to have the car nose up a little to help, also.
The way I do it is how it is written up on Understeer.com : http://understeer.com/waterpump.shtml
Step #10.
Hope this helps. It's always worked great for my cars.