The android tv/chromecast google tv app doesn't have the "continue watching" added to their app to allow you to resume a show from the chromecast home screen.
To make matters worse, the only way to continue a show is to remember the series where you left off on, and then continue watching.
Every other app out there has a "continued watching " section
Edit: chromecast with google tv dongle
Edit 2, it takes 6 down presses inside the app to get to continue watching section. Still not option on the ccgtv homescreen to continue watching
I've no idea what discovery + app you're using on android TV, but mine has continue watching when you scroll down from the top