There is no correct answer to this. It is an implementation detail that no two websites (using different base code) do the same way. Variables include the implementation system/language (ASP, PHP, Python, Ruby, etc), use of standardized (or custom) libraries, how security-minded the website is, how long ago the website was written, etc.
Most websites will set your session cookie no matter what page you first arrive from. There are many ways to do this but all involve every possible entry point calling common routines in the website's source code for handling sessions, permissions, navigation, logins, etc.
Having said that, I'm there a significant number of websites that do not set any cookies until you do something that needs to be remembered (login, adding a product to a shopping cart, setting a preference, etc).
How you should do it depends on what is important to your website. There is no single answer to this.