Documentation about CSRF and cookies is confusing

Reading https://docs.spring.io/spring-security/reference/features/exploits/csrf.html for 5.7.2 one can read (https://docs.spring.io/spring-security/reference/features/exploits/csrf.html#csrf-protection-stp):

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Requiring the actual CSRF token in a cookie does not work because cookies are automatically included in the HTTP request by the browser.
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Then, under https://docs.spring.io/spring-security/reference/features/exploits/csrf.html#csrf-considerations-timeouts one can read:

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Finally, the expected CSRF token could be stored in a cookie. This allows the expected CSRF token to outlive the session.
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These statements seem to be contradicting. Should the CRSF token be put into a cookie in addition to the previously recommended HTTP parameter or an HTTP header?

Start with the CSRF documentation sections linked in the issue: CSRF Protection and CSRF Considerations—Timeouts. Compare how each passage uses the terms token in a cookie, HTTP parameter, and HTTP header, then revise the explanation so their roles are unambiguous and non-contradictory. Done means the documentation clearly answers whether a cookie is used in addition to the request token.