The martyred souls in Rev 20 were not resurrected from the dead. You are adding 'resurrection' to the verse, but it is not there.
Re 20:4 And I saw thrones, and they sat upon them, and judgment was given unto them: and I saw the souls of them that were beheaded for the witness of Jesus, and for the word of God, and which had not worshipped the beast, neither his image, neither had received his mark upon their foreheads, or in their hands; and they lived and reigned with Christ a thousand years.
The verse simply says that John saw disembodied souls with Christ in heaven. And I know heaven is not mentioned in the verse, but since that is where Christ went when He ascended to the Father, it is correct to view these souls as being in heaven and not on the earth.
As I said there is no mention of resurrection in the verse, and for that matter the verse does not even say they had to come to life, but only that John saw those who have physically died in heaven, living and reigning with Christ a thousand years.
There is no physical life mentioned here because the souls are spiritual bodies, not physical bodies. They died in faith, so in death they went as spiritual body to be with the Lord in heaven through His life giving Spirit in them. Them leaving the natural body and being raised to heaven as a spiritual body is only possible because in life they partook of the first resurrection from the dead; i.e. Christ, Jesus our Lord.