O documento de suporte da Apple esclarece:
If you have an Apple TV (3rd generation or later) with software version 7.0 or later, you can control your HomeKit-enabled accessories when you’re away from home using your iOS device.
Sign in with the same Apple ID on your iOS device and Apple TV, and you’ll be able to use Siri commands to remotely control your accessories. (traduzir)
via 9to5mac