What is said in this interview is about 85% accurate. I would only correct it insofar as it leaves the impression that Madison succeeded in having a principle of non-cognizance enforceable against state governments included in the US Constitution. He tried, but his effort failed, which is why the Danbury Baptists still lived in a state with a Congregational establishment 12 years after the Establishment Clause was ratified.
For the full story, see the Introduction to the paperback and electronic editions of my JAMES MADISON AND THE MAKING OF AMERICA.