Yes, you received correct information. The HR34 requires a remote HD Receiver to view its recordings on the remote TV, unless that TV is a recent Samsung model with built-in "RVU client".
The newest DirecTV HD Receivers/DVRs do not have an SVideo jack, but you might get an older model that does.
The newest DirecTV HD Receivers/DVRs do not have an SVideo jack, but you might get an older model that does.