Connect airpods to iCloud

You don’t connect AirPods to iCloud. They are Bluetooth devices which you pair with your iOS device - Connect and use your AirPods - Apple Support

While paired to your device you can use find my iPhone to help locate them (assuming your iOS device is logged into iCloud and has find my iPhone enabled) - If your AirPods are lost - Apple Support

Michael, i have the same problem as the originator of this post. i just upgraded my iphone and before, my airpods were on my list of devices in "find my iphone", now it is gone even though i can listen to my music as they connect normally to my new iphone via the bluetooth.

Are you checking find my iPhone when they are actively paired and in use while you are listening?

Again and as explained in the links I provided, you don’t need to do anything. As long as the iOS device you’re pairing the AirPods with has find my iPhone/iPad enabled, while connected your AirPods will be shown. But they only show when paired with an iOS device since they cannot connect to the internet on their own.