Adjusting AirPod 4 volume when connected to non-Apple devices.

Want to use AirPods with a Denon AV receiver connected via Bluetooth. The setup menu pairs the pods just fine and there is a switchable option to hear just the Bluetooth connected item on its own or with the speakers. I get sound through the speakers, with volume adjustment via the system remotes, but is there any way to adjust the AirPods’ volume apart from using Siri on an iPhone or iPad?