The 950 does not convert s-video inputs to component, so the component output will only be useful if there are devices connected to the component input.

Since the Samsung's native resolution is 720p, it has to be converting all inputs internally to that resolution. You will get much better results from that process if you deliver a better signal to the TV. That means component inputs (or DVI/HDMI) whenever possible. If the source in question doesn't have anything better than s-video as an output (which I'm guessing may be the case with your Tivos), then there isn't really a choice...