They should both come on together if you had leathers and a helmet which matched the Gen 3 colour scheme you were on..... heee heee heee - (No I'm not the fashion police - but couldn't resist it and I is an expert, speaking as one what looks like a gorilla shagging a rugby ball when I ride my Gen 3!)
As mentioned previously, for the Gen 3 both headlights do come on, but only when switched to main beam