Strange, because it works for me.
I also have a dual monitor setup, and what you want seems to work with me.
For example, if I have this FF window open on the primary, (default), monitor display, I then drag it across to the secondary, minimize it, re-display it from the taskbar, and close it down. The next time I open FF it opens in the secondary display, and it will do that the next time, even if I have rebooted the computer in between times.
I can't recall that I made any particular changes to settings, but checking my Display Properties I do see an unusual thing, shown in the image link below;
What I see is the Primary monitor on the left, (monitor 1 highlighted in the left image), and the secondary monitor on the right, (monitor 2 highlighted in the right image), and where it says "Display" with the drop down selection box, monitor 2 is listed as default.
That surprises me, as that 2nd monitor is not the default. If I deselect the 2 monitor display and return to a single monitor, it is Monitor 1 that I use, and that is what I would call the default monitor.
So, it seems what you want is possible, I just don't know how to achieve it.
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