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Yes, to some degree.

ATV4 and 4K support HDMI-CEC. If your TV, Home Theater, Soundbar support HDMI-CEC as well, any of the remotes can control some of the functions of the other devices in the HDMI chain.

To enable this, on Samsung TV, the setting is called AnyNet I believe. On ATV, it is described here.

The effect will be the Power on\off and volume can be controlled via ATV remote. When you put ATV to sleep, it will put the TV and audio system into sleep mode as well.
 
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