I use iMovie to produce my mp4 videos and I view them using the tvOS VLC app on an Apple TV.
As to what icons I see depends on how I’m accessing the files.
VLC app on tvOS displays most icons as blank, except for a few whose file names are the same as or similar to the name of a publicly released movie in which case the poster frame is a graphic from themoviedb database.
VLC app on iOS iPad displays all icons as blank, no artwork.
VLC app on iOS iPhone displays all icons as blank, no artwork.
VLC app on macOS as for Finder view.
Finder view on macOS displays the frame 10 secs into the video by default, unless overridden by pasting a shot into the icon at the top left after selecting Get info in Finder view.
I’ve concluded because of this that my “problem” is a VLC issue. It’s a great product, especially as they have a tvOS app that runs on Apple TV 4K (so therefore there is no need to Airplay to the ATV4), except for trying to get them to respond to issues like this!
Its not the biggest problem in the world, and the important functionality of playing files is there, it’s just ugly and annoying.