From the initial script of AvP (2004), I remember the Queen escaped the pyramids and went towards the surface through the tunnel, with a few Aliens including Grid.
In the actual movie, she escapes first (noticed by Ms. Woods), while the Aliens followed her but found Scar and Ms. Woods in the way.
So, could it be that a few Aliens might have come with the Alien Queen in Aliens, for her protection?
But then, obviously, this statement falls flat, since the Queen was fighting Ripley and was thrown out of the air-lock while the Alien 'guards' were supposedly planting eggs around Sulaco, instead of helping her.
However, I personally think that Ash 937, has nailed it.