If the Bookmarks sidebar is closed (using the X) the setting should be persistent when Firefox is closed and reopened. Currently a close/reopen cycle makes it reappear even though the sidebar was closed when Firefox was closed.
Whose bright idea was it to cause View.Sidebar to deselect a user choice after exiting Firefox? I use the bookmarks constantly, and it is an inconvenience to have to keep toggling them back on again. It takes away most of the purpose of the "View" option.