I want to sort my bookmarks into folders as I add them, how do I do this?

In Explorer when you add a bookmark it asks where you want it to go, you can them add it into any folder/place you like. In Firefox when you bookmark a site it justs adds it to recent bookmarks or some other random place. I know how to then move the bookmark into a folder but it is so tedious to have to do this every time. Does Firefox have the same function as Explorer?