Each topic subscription does indeed act like a queue would. Subscriptions exist in order to ensure that there is a distinction between receivers working on the same set of messages (a single subscription or a queue) and receivers working on their own distinct copy of messages (multiple subscriptions).
Lets say I have a topic that is receiving requests to resize photos. I want to receive messages to resize the photo and a separate set of messages for logging. Logging might be fine with a single receiver, but as resizing work scales up maybe I want to have three receivers. I don't want to resize each photo three times, one for each receiver, I want each request to be handled once for resize and once to log. In this case I would make two subscriptions. The logger would feed from one subscription and all three resize workers would feed from the other. Auto-scaling usually reflects this- each instance is doing the same job, so you don't want duplicate messages in order to avoid doing duplicate work.