Get the app, as the original poster said, and filter it via Bluetooth. My only problem, unless I haven't figured this out, is that I have to select what I want to hear manually on the phone--the Sirius menu doesn't appear on the screen, unless I'm overlooking something. Makes it less than perfect, all right! I did look over their menu and save my favorites.
I wouldn’t expect menu of channels to appear on Tesla infotainment screen, but do you not have play/pause controls?