In this situation, both the ZK and the PoK properties are essential; indeed I would say that for most useful applications of ZK proofs, the PoK property is necessary.
Zero-knowledge proof (soundness, completeness, zero-knowledge) is a subset of proof-of-knowledge (soundness, completeness), so your last statement is true by definition.
PoK is a stronger condition than soundness.
I'm probably mixing things up.
What's missing is the cheating verifier that can generate a transcript of a valid interaction without actually knowing the secret.