Can I ask Siri to connect an Apple TV to my AirPods? What is the correct command to get a 4th Generation Apple TV to connect to AirPods using Siri? When I try “connect to my AirPods”, all that happens is the Settings app opens and “Video and Audio” is selected. The AirPods are already paired to the Apple TV.
There is no way to use Siri to connect your AirPods to your Apple TV: not listed on Apple’s “Use Siri on your Apple TV” article.

The fastest ways I’ve found are to swipe down from the top and select them in audio settings (for apps that support it) or hold the Play/Pause button when in the “menu”/“TV” view, to see your Bluetooth output options.