This is not correct in all cases. Apps that receive APNS notifications will be launched in the background, even if you have "force quit" them (i.e. swipe up in the task switcher). You can easily test this using e.g. a 3rd party email app with push support such as Protonmail.If an app is force-quit then it won't receive background notifications.
According to Apple, this also seems to be the case for at least some location notifications:
https://developer.apple.com/library...n.html#//apple_ref/doc/uid/TP40007072-CH4-SW7
"In most cases, the system does not relaunch apps after they are force quit by the user. One exception is location apps, which in iOS 8 and later are relaunched after being force quit by the user."