Usually the ESC beeping means it has power but no PWM signal, and the ESC will go silent once it gets PWM signal. ESC’s may vary between brands, I dont have enough experience to say for sure.
The Pixhawk wont output PWM on a motor channel until it’s armed.
You can get output before arming by designating a servo output channel to something other than a motor, such as gimbal tilt, but watch out if you’ve got a ESC and motor connected because it will be active as soon as the pixhawk powerup sequence is complete.