There are two (sorta three) answers that address your question in different ways.
First - there is no way, programmatically, to remove the ask ACTION to
part. This would be like asking if there was a way to remove the hostname from a URL.
However, you (as a user) can setup a shortcut so that when you say "Hey Google, turn on the TV" this actually gets interpreted as "Hey Google, ask some action name to turn on the TV". To do this
Go into your Google Home app.
Open the Menu -> More Settings -> Shortcuts
Second - as @shortQuestion suggested, you could rely on implicit invocations to do what you want. To pull this off, you need to setup the various phrases that will trigger an explicit invocation - and hope that Google notices these and suggests them as something the user can do. There is no way, however, to force Google to pick your Action for a particular phrase, Google's pick may change over time, and they may just suggest your action instead of immediately invoking it. This is sorta like trying to play the SEO game with Google's search engine.
But... what you're asking to do is something that is more along the lines of a Smart Home action. I wouldn't call it "tricky" to create a Smart Home action, but you cannot do it with Dialogflow, and it requires you to create and setup a server that manages (and ultimately controls) the devices in question.