What you are describing here does not reflect my experience. If content is served with a no-store directive or you do an explicit refresh, then yes, I'd expect it to go back to the origin server otherwise it should be cached across browser restarts (assuming it is allowed to, and can write a cache file).
Looking at your waterfalls in a bit more detail (which is tricky because they are a bit small & blurry) the browser appears to be doing exactly what it should - it has entries for the images - but these are just loading from the local cache not from the origin server - check the 'Date' header in the response (why do you think it's taking milliseconds instead of seconds?). That's why they are coloured differently.