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E.gens() gives a list of generators for E(Q) modulo torsion. You can get the generators of the torsion subgroup with E.torsion_subgroup().gens().

It would be possible to add an option to E.gens() to include torsion generators. Right now (Sage 9.1) E.gens() is a list while E.torsion_subgroup().gens() is a tuple so it is a bit awkward:

sage: E.gens()+list(E.torsion_subgroup().gens()) 
[(3 : 2 : 1), (-1 : 0 : 1)]