You can connect it were ever there's an available component input on the TV. Just remember which one it is because that's what you'll want to select to see the cable box.

But yeah, the RGB+LR is a good connection to use, it'll get you pretty good picture quality.

Pioneer PDP-5020FD, Marantz SR6011
Axiom M5HP, VP160HP, QS8
Sony PS4, surround backs
-Chris