Yes the cylinder's began closing, one comes (usually) against something, the the second goes until it's tight on something. If you grabbed a piece of culvert then they would both close a the same time (because the item is the same diameter for the full length).
With some practice you can be gentle when grabbing something. There are two buttons (switches) mounted on the loader arm and you activate the power with those switches. With practice you'll learn to release the switch before the cylinder clamps totally down. If you hold the switch to close the cylinder will keep closing until hydraulic pressure goes to the other cyl and then it moves until both are as tight as they can get with the hyd pressure provided, then the system bypasses to prevent damage.
