If you use the optional rear speakers from the soundbar and e.g. when you watch any netflix content set to 5.1 in Netflix Audio options, you will get true surround sound, no worries there. I am not sure where you live, but in my country, all HD channels have Dolby Surround at source. So, my home theater system emits true 5.1 surround sound. All SD channels like news etc. only have stereo sound and my home theater only emits stereo sound, which is natural. My Netflix can do surround sound (yours can too) and it produces true surround.
The summary is that the source should be 5.1, speakers should be 5.1, connection between the TV and HT should be digital (HDMI or optical or whatever else capable of doing surround). If all these conditions are met, you will get true surround. Otherwise, stereo or simulated surround. In my experience, my optical cables have always passed 5.1 sound from the TV to Sound system. I am not sure why madmatt30 is saying otherwise, but maybe he had his own experiences. So, to be safe, use HDMI for connecting the TV to audio system. You can try with optical too. If digital connections are not available in even any one device, then you will have to go by what he has said in an earlier post to get true surround.