I run 3 amps in my HT setup. One for the fronts, one for the surround, and the last for the surround back. When I turn on the amp for my 3 fronts I always get a pop, regardless of the order I turn my equipment on. Never anything for the surrounds.
I talked with tech support from the manufacturer of the amps and he said it's normal, nothing to worry about. Unless it is a really loud pop. For now I am going to let it go.
Unless of course someone can tell me otherwise and how I can fix it.