You have to be sure that your TV is getting a 5.1 signal, and then passing that signal on to the Sonos.
Open up the Sonos app, and select ...More. The go to Settings, and click on "About my Sonos system". There should be a listing for your Beam that has a line that says (and I'm hazy on this, not at home to check) Audio In. Next to that should be either Stereo or Dolby Digital 5.1. If the former, then we need to look at the data that's being sent to the TV, if the latter, you probably just need to go in to the room settings area of the app, under the Beam, and adjust the volume of the rear "surround" speakers. Or if you have an iOS device, run TruePlay on your system.
If it says "stereo", then what are you watching on your TV? Is it a local TV station that you're getting over the air? Or is it a cable box that's feeding the TV? Or some other device?
Some stations, will only send a stereo signal, so you have to be careful about what you're watching when you're checking these things. For me, it's often News programs and the like that are only in stereo, and not in true 5.1 sound, although that's less and less the case these days.
Good luck!
Bruce