They count as Medications, not toiletries, so yes, you can carry them on, and they do NOT have to be in the 3-1-1 baggie. You can also carry on a full-size bottle of contact solution if you like (I normally carry two, actually: peroxide cleaning solution, and wetting saline as well. When I travel alone I take the small bottles because of the weight, but if the family is travelling I take the larger bottles.)
I always use a gallon ziploc for liquid meds items, both Rx and OTC, and have it labeled with my last name and the word "Medications". I take it out of the carryon and put it with my 3-1-1 toiletries baggie in a bin, and it goes through with no problem.
The ONLY time that I ever had an issue with a medication was with a can of sunburn pain spray. A screener at TPA very obviously threatened me over it, telling me that if I really wanted to bring it I could, but that since it was in spray form he would have to call for a female TSO to search me in a separate room if I insisted no keeping it, and that since no female TSO's were on duty that shift, that I would probably not manage to make my flight because we would have to wait for one to come in to do the search. I was travelling alone with my younger children, so I decided to let it go, but it was intensely annoying. (DD had a sunburn, which was why I was carrying the spray to begin with.)