If I have different folders of images on my HD and wish to import these different folders into LR, is there a way of LR creating new folders with the same title as the folders being imported and the the images assigned to the folders to match the imported folders' content?
I don't understand why you would want to do this - Lightroom doesn't require its "own" copy of the images.
When you import images to Lightroom, they are not moved or duplicated - the Lightroom catalog is a database which only references the images from their current location and folder on your computer.
The normal thing to do is to import the images from their current folder, using the Add option in the Import dialog.
If you for some reason want to have duplicates of all these folders and images, you would have to use the operating system to duplicate them, and then import from the duplicated folders, using the Add option.