So I found a solution to this problem:
The beep sound heard between songs is an issue of the volume between two devices being out of sync. For example, having the volume on your headphone turned to max, and your volume on the iPhone turned to lowest possible volume.
To solve the issue simply adjust the volume of both your headphones connected via blue tooth down, and your volume of your iPhone up so that they are near the middle level, then you can adjust the volume with either device to get the desired volume for your listening pleasure.
The beep indicates the iPhone is trying to adjust the volume level between songs, and is set too low. This is why raising the volume on the iPhone fixes the problem, but you also need to adjust the volume on your headphones lower. Or you are going to blast out your ear drums!