Best to drive it as soon as you start it, warms up quicker this way, minimising the wear and tear caused by cold oil.
It does have a different cold map, it will run a richer mixture. This will reduce carbon dioxide emissions (Whilst increasing all other emissions!!) but will also help to get the engine up to temperature more quickly.
How does running it richer heat it up quicker?
Doesn't more air equal more heat?