It really depends on the liquid and your personal taste.
I'm not going to try and explain what happens on a molecular level when we steep, but in layman's terms, it is just allowing the liquid to sit so the flavors can blend and the full flavor can develop. Some people shake, take caps off, set the bottle in hot water, use ultrasonic cleaners.... The list goes on. The best advice I can give is to ask the vendor directly what they recommend for steeping, or ask our friendly members here on ECF.
In the end, you will find what works best for your liquids and your taste- good luck!