You are getting confused. A (main aspect colour light) signal may have an associated position light which, when displayed at the same time as a red aspect, gives authority for a train to proceed onto a line which may be occupied by another train or vehicle. This is called an ‘associated position light’. That’s as opposed to an ‘independent position light’ which conveys the same message but is not associated with another signal.
A Proceed-on-Sight Authority signal looks identical to an associated or independent position light signal when it is unlit but when illuminated displays a flashing aspect to differentiate it from the other types of position light signals. The illumination of a PoSA signal gives authority for a train to proceed even though an associated signal (if there is one) may be displaying a red aspect or no aspect at all. PoSA signals are only used under very specific circumstances during degraded working. The term Proceed-on-sight or PoSA only refers to this type of signal.
There are five classes of route in the signalling principles - Main, Warning, Call-on, Shunt and PoSA. An associated position light could used for call-on and shunt class routes, while PoSA signals are only used for PoSA class routes. Main aspect signals are used for main and warning class routes.