When does a http2 TCP connection close?

I understand that http2 use one tcp connection to serve multiple requests, for example, if I request index.html which contains a.css and a.js, these three requests will be done in one tcp connection.

What happens if user click index2.html? does this request still in the same previous tcp connection? If so, the browser will keep the connection open until user close the browser? And in server side, the server has to keep many many connection open all the time?