The only non captain yet top tier/legend who is known to mess (and even more) with an admiral is dark king. All the others that we have seen them fight are below admirals. Katakuri, Marco king all of them would lose, even though they are the strongest under their captains.
The thing with King and Queen is that greenbull has a df that literally cancels their greatest strength, witch is their durability and even more so for king, so they were doomed from the beginning lol.
It's not like they were going to win otherwise but it would be more difficult for them to lose plus they were still with bandages on, so they weren't at 100%.
I don't understand why some people dismiss their condition, i mean oda bothered enough to draw the bandages, so there is a reason for it.
On another note, Sanji and Zoro accomplish a great feat, leaving two ancient zoans with wounds after a whole week. Well done