Yes. Neither Rockbot nor any other background music service provider can provide licenses for music played on your TVs, whether the TVs are playing broadcast TV or an internet music video site such as Vevo or YouTube. All four US PROs (ASCAP, BMI, SESAC, etc) require that you obtain a direct license to cover music played on your televisions. If someone represents to you that their video service includes licenses for your TVs, be sure that the licenses read clearly that the licenses include indemnification for all rights through to the end user of the service.
If you keep your TVs on mute (volume 0), there is no need for an additional license. However, be aware that the PROs often send people to businesses unannounced to confirm that the volume is not audible - particularly if you are an NFL Sunday Ticket customer.
DirecTV specifically excludes PRO coverage in the business subscriber agreement. We are not aware of other cable or satellite services including coverage other than in the case of their background music subscription services, which are sometimes offered for an additional fee and would still only provide coverage for the music service.