The lack of relevance isn't what bothers them. It's the fact that the ads are not the show they intended to watch. And in fact interrupts it.

If you could make all the ads I saw on TV perfectly relevant, I would still fast forward. Because I would like to get back to the show, OK?

DVR usage isn't actually that prevalent, even after a decade. Generally the preference is to watch stuff live, and live with the ads. Which is a big part of why the ground hasn't fallen out from under broadcasters like it did with newspapers, and TV ads are still the priciest (and arguably most effective, commanding your attention in a way that banner ads cannot) form of ads.

Or, people prefer to see no ads at all because they are more interested in the show they are watching than any ad, relevant or not.