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This is not rosbag functionality but the OS has a Disk cache that makes following calls faster than the first one. See this:

http://answers.ros.org/question/211848/what-makes-rosbag-to-start-playing-fast/

You might be able to preload the file into cache using a tool called vmtouch, See:

https://serverfault.com/questions/406308/tell-the-linux-kernel-to-put-a-file-in-the-disk-cache

https://serverfault.com/questions/43383/caching-preloading-files-on-linux-into-ram

https://hoytech.com/vmtouch/