Throw her on the bed face down and rip her panties off (if she's wearing any). She'll get the hint.
Seriously, it's all about foreplay. Foreplay starts from the time you get OUT of bed with her and lasts until you her back INTO bed.
And yes, foreplay is highly dependent upon the individuals in the relationship.
For me and my SO, the aforementioned method (throwing her on the bed) actually is the *last* step in our foreplay process (if I've done the preliminary things properly). And it's only ONE of my methods of initiating. My SO tends to like the more dominate and dominating forms of initiating, so I can, in essence, get away with this because of our relationship dynamics. But leading up to that, there is always communication (of the listening variety), cuddling, sweet-talk, doing things for her, complimenting her, helping her with household stuff, etc. Non-sexually related and sexually related giving her attention and care.
Basically, you've got to communicate with your SO and find out what, for her, constitutes foreplay and then focus on giving her the proper amount of attention and foreplay she desires. And foreplay can take many forms (which are too numerous to get into here...any way, it's what matters to *her*).