All subs, regardless of how they are labeled, are mono. Additionally, with any sub that takes high level inputs the first thing in the circuit is a 20k to 50k ohm resistor. This is necessary to drop amplifier voltage down to the same as a line level input. This also means that connecting a sub this way presents a negligible load on the amp.
Put these two together and it means all you have to do is connect +/- to +/-. Which channel won't matter, because it is mono. It won't even matter if one amp is connected to one sub, or all of them, the load is too miniscule to matter. You can even sometimes run from one amp to one sub, and then from that sub to the next. Really, any way you do it is fine.