General case, not specific to your engine: The cap is spring loaded to seal until the coolant reaches a particular pressure, based on not boiling until reaching a particular temperature somewhat in excess of 212F/100C. Some engines then vent into the overflow tank, and suck it back in when the temperature/pressure drops. Cars do that. Some vent into the overflow tank and leave it there, which sounds like your engine. Mine dumps it all over the engine.
So, if you have found some coolant in the overflow tank, the engine has dumped some excess, and that's OK. If it's a lot, or it throws steam all over the compartment, you're boiling coolant under pressure, or have a defective cap, and your
heat exchanger may not be doing its job.
The experience you've had with it does not sound like a problem. Keep an eye on it.