It definitely can come naturally to you, it does to me. I have relied on it for so long that I have been lip reading since I was a teenager. My mind kind of just automatically does it and I hear a faint whisper from the lip reading, like it happens without even trying for me.
This does however produce some odd results, like GIF memes with mouths I hear a whisper of what my mind automatically reads from the images. It is also doubly interesting when the caption does not match what is being said. Like a GIF of a person literally screaming is "AAAAAAAA".