Honda FourTrax Rubicon TRX520FA5 2020 Owner's Manual page 111

Braking
Your ability to brake in a turn and to brake hard in an emergency
situation are important riding skills.
When descending a long, steep grade, use engine compression
braking by downshifting (in the ESP mode), with intermittent use of
both brakes. Continuous brake application can overheat the brakes
and reduce their effectiveness.
Riding with your foot resting on the brake pedal or your hands on
the brake levers may overheat the brakes, reducing effectiveness.
For information on how to apply the brakes in various riding
situations, see the following section, Riding Your ATV.
Basic Operation & Riding 101