Connect to Your Apple TV
AirPods don't actually connect to your Apple TV as easily as they do the rest of your Apple gear. This is a frustrating omission, but you can pair your AirPods to the Apple TV to listen with them. You'll need your AirPods and your Apple TV to set this up.
Now you're connected to your Apple TV and can easily reconnect to use them the next time you want to listen. If you need to disconnect them, go back to the Bluetooth options and then choose Forget Device.