Apple’s new AirPods will automatically pair with any iPhone or iPad running iOS 10.2 or later, and sync via iCloud to your other compatible iOS devices, Apple Watch, and macOS Sierra. However, for whatever reason — perhaps because of its role as a common “family” device — Apple hasn’t included the Apple TV’s tvOS into the mix; even if your Apple TV is signed into the same iCloud account you’re using on your iPhone, it’s left out of the automatically synced pairing party.
Fortunately, AirPods can be still be paired manually like just about any other Bluetooth device, and they actually work quite well with the fourth-generation Apple TV. To pair your AirPods with the Apple TV, go to Settings, Remotes and Devices, Bluetooth, and then put your AirPods into their charging case, leave the lid open, and press and hold the setup button on the back of the case until the LED starts flashing. Your Apple TV should detect your AirPods and show them under “Other Devices,” and you can then select them and they’ll pair right away. Once paired, you can listen to audio from your Apple TV through your AirPods whenever they’re out of the case and in your ears, and the automatic ear detection feature will even work to pause your audio or video when you remove and reinsert the AirPods. Note that you won’t be able to trigger Siri on the Apple TV with a double-tap, however — regardless of the double-tap setting you’ve chosen, double-tap defaults to play/pause control when paired with other Bluetooth devices that don’t specifically support AirPods.
As long as you were last using your AirPods with your Apple TV, they’ll also automatically reconnect and transfer audio as soon as you pull them out of the case and put them into your ears. However, since the Apple TV sees your AirPods as just another set of Bluetooth headphones, you’ll need to manually re-establish your connection to your AirPods using the Apple TV’s Bluetooth settings if you’ve last used them with another device, such as your iPhone or Apple Watch.