How to stop Apple TVs from prompting guests to join their accounts?

So I have three Apple TV's on my property. One is mine and the other two are for vacation rental units. I am signed into my Apple TV with my Apple ID. The other two Apple TV's cannot have my Apple ID because I don't want my personal stuff accessible by guests. The problem is EVERY time I get near one of those Apple TVs, my phone gets a pop up asking if I want to "join" that Apple TV and it does not go away on its own. This also happens to all of my guests with iPhones. It is very annoying. Worse, there apparently is no setting to disable this automatic pop up. I tried creating "burner" Apple IDs just to shut these devices up but failed since Apple requires a unique phone number which means now I need to obtain two "burner" numbers that Apple accepts (they do not accept VOIP numbers like Google Voice) and I don't want to have to do that.

How can I make these Apple TVs stop asking everyone to join?

[Re-Titled by Moderator]

Original Title: Apple TVs used in my vacation rental units keep asking everyone to "join" their account with them. For privacy, they should not have anyone's Apple ID. Is there a setting to stop the relentless auto pop ups? Or another way to stop this?