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I believe this is to be expected.
It might be misleading, but the lifecycle_listener is actually a regular node, and not a lifecylcle node.
https://github.com/ros2/demos/blob/master/lifecycle/src/lifecycle_listener.cpp#L34
The listener node here is only showcasing the events getting published when a lifecycle node is changing state.
The functionality you're looking for should work for the lifecycle talker (https://github.com/ros2/demos/blob/master/lifecycle/src/lifecycle_talker.cpp#L53).
Terminal A:
➭ ros2 run lifecycle lifecycle_talker
Terminal B:
➭ ros2 lifecycle get lc_talker
unconfigured [1]
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