Is there a way to use Apple TV on a 2016 Samsung smart TV?

Unfortunately, a 2016 Samsung TV is not new enough to support the Apple TV app natively.

List of Apple TV app-supported devices - Apple

You may need a HDMI-connected streaming device, such as the Apple TV box, a Roku, a Fire TV, or select gaming console. See first link above.

Are you asking if you can watch Apple TV Plus?

All the ways to watch Apple TV+ - Apple Support

https://support.apple.com/en-ca/guide/tvplus/welcome/web

Watch on Samsung Smart TVs - Apple Support

You’re welcome