You press the left arrow to go back, even from a recording, or any thing.
You can even jump back and forth between a recording and Live TV. Press Live TV to go there. Press left arrow to then go back to playlist where you were and press play.
Original S1 (Recycle Heaven)
Series 2 (PLS, sold)
TiVo HD (XL, PLS, "652")
Juliet Basic (4XL, PLS)
The TiVo Apocalypse begins on Sat 2013 Feb 16 00:00 GMT!