The question could be improved with some (ideally, dated) examples of the original usage if available. That's because the holdover from radio may have been rather distinct from specialized phraseology such as "hear on TV" (meaning, memorizing a factoid that arrived through the TV) that's still entirely current. But it's equally possible that there has never been any semantic discontinuity, just a gradual shift in verb frequencies. (I can technically listen to TV without watching it, and I can hear things on TV even when I do watch.)