Jimi's playing it the way I would........and your finger position is correct, as he says.
Try using the pick to hit the G string/9th fret........hammer on the 11th fret....then use your middle finger to pick up the B string/10th fret. Start out slowly and build speed later as your muscle memory "learns" where the fingers go. This is how I would play it, you may prefer alternate picking, but at least it's an option to try different things. What works for you may differ from what works for the next guy.
Guitars
Wilburn Versatare, '52 FrankenTele(Fender licensed parts), Fender USA Roadhouse Strat, Fender USA Standard B-bender Telecaster, Agile AL 3000 w/ WCR pickups, Ibanez MIJ V300 Acoustic, Squier Precision Bass,
Amps
Ceriatone Overtone Special, Musicman 212 Sixty-Five, Fender Blues Jr., Peavey Classic 30, Fender Super Reverb, Traynor YCV-40 WR Anniversary w/ matching 1x12 ext. cab, Epiphone SoCal 50w head w/ matching 4x12 cab (Lady Luck speakers), Avatar 2x12 semi-open back cab w/ Celestion speakers
Pedals
Digitech Bad Monkey, Digitech Jamman, DVM's ZYS, Goodrich volume pedal