I don't know that I'd feel the need to reheat the frozen lard before making it into soap. There is likely not a huge amount of water trapped in the fat, so it's not going to throw off your recipe, if that's what you're thinking about. If the fat is not moldy or otherwise objectionable, I'd just use it as-is.
I don't cover the pot when I render lard. (If you do cover the pot, you'll learn there's more water in raw fat than you might expect -- there will be water condensation on the inside of the lid even if you're dry rendering.) I normally use a dry render process if the lard is "sweet" (freshly collected and not smelly).
After the initial rendering and straining is done, I heat the fat on the stove top to a bit over 100 C / 212 F. That will cause any water in the fat will boil and turn into steam. I don't walk away when doing this process for safety's sake. I also don't let the fat get any much hotter than that to maintain the best quality of the fat.
The water-turning-into-steam makes a crackling sound and that's what I listen for. When the crackling sound stops (or pretty much almost stops), the lard is as dry as it's going to get. I strain the lard one more time, add ROE, and let it cool.
If I have room in the freezer, I'll freeze my home-rendered lard, but it usually ends up in the fridge. Sometimes, like during canning season, my fridge gets full too, so the lard might spend a week or two on the pantry shelf. When there's room in the fridge again, the lard goes back in.