Do you mean that when editors log in they should be automatically sent to the Books post type instead of going to the edit profile page?
I believe that by default for user roles that can’t access the dashboard they default to the profile upon logging in. If you need to change this there is a plugin called Peter’s Login Redirect that can handle this for you.
Once installed you can set up a redirect so that when editors log in they will be sent to whatever URL you set. Simply select the user role and then enter a URL. In your case the URL should be something like this:
/wp-admin/edit.php?post_type=book