Pair air pods to Apple Tv

If the AirPods are used with the same Apple ID account as set for iCloud services on Apple TV, then the AirPods should be paired automatically (but not connect yet).

Pair AirPods with an Apple device - Apple Support. If the automatic setup doesn’t happen, then hold the AirPods in the charging case with the lid open, press the pairing mode setup button on the back, on Apple TV navigate to Settings﹥Remotes and Devices﹥Bluetooth﹥, and find them discovered there. Select and pair & connect. Connect Bluetooth devices to Apple TV - Apple Support

Once paired, then the AirPods will be remembered for a next use. They can then easily be connected by automatic discovery when you have them nearby in your ears (Suggest Nearby AirPods). Or connect them through Control Center on Apple TV, Audio Controls.