Hitler did not make the same mistake as Napoleon. Napoleons invasion was an attempt to force Russia back into his continental system. The impossibility of the logistics Napoleon faced when he found himself in Moscow without an enemy to fight forced him to retreat back to France, and his army was cut to pieces on the way by hit and run attacks.

Hitler's goals were far more radical - to gain living space -lebensraum- in the East to make Germany self-sufficient and capable of contending with the USA for the leadership of the world. On an ideological level, Naziism is inherently opposed to communism. In addition, Eastern Europe was the dwelling place of a huge proportion of the world's Jews (who needed to be eliminated according to the Nazis' views), while the Slavs who made the majority population of these countries were considered inferior and fit for slavery or serfdom, allowing expansion to take place.

So his goals made surrender impossible for the Russians. Instead, he planned to defeat all of their armies and then remake all of Eastern Europe in Nazi Germany's image by force. So the Soviets had to defeat him directly through four years of colossal conflict. The winter didn't stop Hitler- The Red Army did.

As far as the reasons invasion was necessary immediately: the Nazi economy was built on ruthless plunder and would collapse without further conquests, and Russia had valuable natural resources (especially oil) for the war machine (For a discussion of this, see Tooze's Wages of Destruction). In addition, given Hitler's goals war was inevitable and summer 1941 was the best time for the Nazis to attack a rapidly rearming enemy.

While the Russian winter certainly had an effect on all branches of the Wehrmacht, it wasnt the deciding factory in their failed invasion. Russia is an extremely large country in terms of area making it very difficult to actually attack without being spread too thin. This of course was made worse for the Wehrmacht since they were fighting across Europe which already had them spread pretty thin. There's also logistics that should be considered like how long it take to move troops and equipment, costs of manufacturing and transportation, morale, etc. Furthermore, the Russians were fighting in their home, a place that they knew and didnt want to give up. Much of this is shown in battles such as stalingrad and the fate of the 6th army. In all, the winter didnt stop Germany, the Soviets did.