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Preferences -> adding books has an option to read metadata from the file which will include the cover if possible. However some formats like txt for instance do not have any stored in this way. Or you might have imported with this option turned off (since many books contain rubbish metadata from my experience, depends on your source).
If you are just wanting the cover, then for a single book hit E to bring up the edit metadata screen. In the Formats part of the dialog select the format containing the cover you want to extract from, e.g. EPUB. Then click on the icon next to it that has a brown book cover on it. That will get the cover if any exists and show it to you.
Or use the bulk metadata edit dialog as Kovid says, which will by default open when you have selected multiple books and hit E. Then choose the radio button down the bottom right called Set from ebook file (from memory).
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