No, it is not empty in its true sense. In a cooking gas cylinder, the gas was initially at a high pressure. As the gas was drawn out form the cylinder, the amount of gas in the cylinder decreases, thereby reducing the pressure inside the cylinder. The gas will come out of the cylinder as long as the pressure of the gas inside the cylinder is more than the atmospheirc pressure. When it is kept in hot water or shaken vigorously, kinetic energy of gas molecules increases and the number of collisions increases. Thus, pressure increases and gas comes out of the cylinder.