Thanks for the link K. The answer I was looking for is in there: "As seen in a frame of reference which rotates with the same period as the two co-orbiting bodies, the gravitational fields of two massive bodies
combined with the centrifugal force are in balance at the Lagrangian points, allowing the third body to be stationary relative to the first two bodies."
The key is the centrifugal force. I thought that Lagrangian points were defined by gravity alone, but they are not. Gravity alone will define an L1 point because there must be a place between any two orbiting bodies in which the gravitational attraction between them is equal. However, gravity alone cannot define an L2 point, because both bodies are exerting force in the same direction (so there is no balance).
However, if centrifugal force is added to the system, then additional balance points result from the combination of gravity and centrifugal forces.
Thanks