You get better at it the more you do it, and naturally with experience you'll notice it takes less and less time.

That being said, I agree with you, it does take a lot of time. To me, the switch occurred when I stopped considering this time "wasted" and instead consider it fulfilling. I actively look for the time I'll spend cooking each day, I believe it's a good use of my time and I don't try to rush through it.