However, you can find a program and tune it directly to your TV screen. Just click the On Demand tab at the bottom of the screen and start browsing. Once you find what you want, click the "Watch On Demand" button and it will appear on your TV to watch.
I am also going to mark rog286713's answer as the solution so if others see this thread, they will not get confused.
EDIT: I originally posted that this feature was available but was misinformed. Sorry for any confusion.
Sorry for the mix-up, Joe XfinityTV.com/Xfinity.com Support Twitter: @XfinityTVJoe