People so often use this statement to claim that the gentiles innately hate Jews, is this an accurate understanding of the statement?
As noted in the comments in @Danno's link, there is no source for interpreting the Midrash as referring to nations as opposed to Yaakov and Esav themselves in any early Jewish literature. Furthermore it is noted that other texts of the Midrash, such as Yalkut Shim'oni (B'haalotcha 722) read והלא בידוע שעשו שונא ליעקב which removes any sweeping implications from the statement.
In his Teshuvot Ivra (siman 116), R. Eliyahu Henkin writes that we should not interpret this hatred as something innate (or something like that) because a perverse person stops being perverse after appropriate behavior.
He states that the saying of Ben Zoma in Avot “Who is he that is honored? Those who honor others" also applies to the nations and that our friendship or enmity toward others also influence their behavior toward us.