This issue is specific to iOS and Bluetooth headsets in general, not just the HD10BT's.
To resolve this:
- Open Bluetooth preferences on iPhone, forget the HD10BT.
- Then turn the phone off.
- Then reset headphones. (Turn them off, wait 5 seconds, then turn them back on)
- Turn phone on and pair the headphones in Bluetooth settings.
- Play audio and see if the beeps continue or not.