I actually recall seeing an option on my TV to set up the Samsung remote as a ‘universal’ controller. I haven’t had the need to do so because I have a Philips Sync Box that handles HDMI-CEC for me (So I can basically use the TV’s controller on the devices connected to the Sync Box).

Oddly enough (At least in my model) the ‘trigger’ to setup the universal remote is within the ‘input sources’ menu?