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Right. At least they don't intentionally. I suspect it was shortly after the very first lithium based batteries were developed that they discovered discharging them to 0V could permanent damage the cell. So they quickly developed the necessary internal device to stop discharge once it reaches a certain level - and I think 2.8V is pretty most common.When I say "drain to zero", I mean "drain to 3.0V" or "drain to 2.8V" or whatever the heck the manufacturer thought was a safe cutoff voltage. No one actually goes to 0V
However, while output is terminated, the chemical process still continues and, like all batteries, they will continue to discharge, even if sitting on a shelf - though at single-digit µA rates. If left long enough, they will eventually reach 0V. For this reason, it would not be wise to run a battery down, then pull that battery and put it on the shelf. It is best to charge it up a bit (50% seems to be a common consensus), if the device is to be unused for awhile.
The point really is about semantics. 0% charge does not really mean 0V. However, if 0% charge is indicated, a multimeter may very well show 0V, but that is because output has been terminated.