I'm pretty much always logged in. Just to be sure, I went to YouTube, logged out and then in again, but nothing different happened.
I have a standard Google Account username (i.e. my username and not my real name appears when I comment) and it's not linked in any way to G+ (although I _do_ use G+ often, might that be the difference?).
> You’ll need a full Google+ account to get access to all of Hangouts’ features including group video calls, sharing photos, and using Hangouts with Google+ circles.
A friend turned off Google+ and Hangouts was entirely shut down for him, even on the browser side. I'm not sure if that's a recent change, but deleting a Google+ profile seems to cause some unexpectedly bad things to happen, like that.
I know for a fact it is impossible to use Hangouts on iOS devices without maintaining a Google+ profile. A friend was forcibly signed out when she deleted the profile it created for her using the iOS app. Either Google+ is on or Hangouts isn't a stable option.
Edit: To clarify, two separate friends who don't like/use Google+. Sorry if I'm being confusing when trying to add context.