If you use the satellite DVR, you can record a show whenever you want and then transfer it to the 2160's HDD, and then edit it if you want (for commercials, etc.) and then burn a DVD at your leisure.
If you use a standard sat box (non-DVR), you can still record to the 2160's HDD, but you'll need to at least set the sat box's timer (if it has one) and have the 2160 record, but you can then edit and burn the shows the same way.
Using the sat DVR should be slightly more foolproof, as the recording should still be there even after you've transferred it to the Magnavox. Then you can delete it from the sat DVR when you know it's copied over to either the Maggy's drive or burned to DVD, freeing space. Either method will work, though.