Sorry to hear that you getting a message to register on your devices even though they are.
I would like a better understanding of this issue. Do you want to select a channel on TV Anywhere then choose the watch on TV option. Or do you want to stream a channel through the iPad but the only option available is watch on TV?
If you want to select watch on TV make sure that the correct TiVo® box has been selected. Also if you want to stream a channel through TV Anywhere you need to select a stream-able channel that has a wireless signal.
Let me know as much information as you can, for us to help you with this issue.