In VS you cannot attach two debuggers to the same process (it is possible to attach VS and WinDbg to the same process, but not in the default manner).
Point is, you don't have to use two debuggers or include the auxiliary project in your solution. Immediately after the dll load you'd be able to step through it and set breakpoints in it as if this was the solution you just compiled - all you need is the dll's debug symbols (pdb). Typically the dll load time is at process launch - but if it is loaded dynamically you might want to break immediately after the LoadLibrary call and only then set breakpoints in the dll. You can set the breakpoints in advance, but you'd still have to break somewhere after the dll load to enable the breakpoints to be translated into instruction addresses.
[Edit:] This does (I hope) answer the question as you put it, but it would not reproduce the VB experience you describe. AFAIK there is no way to set breakpoints in a library that would be applied to every process that loads that library. The closest I can think of is for you to set a MessageBox displaying the process ID in the library initialization routine (essentially DllMain), then manually attach a debugger to that process and set breakpoints as desired.