Hi! Thanks for posting.
TL;DR Yes! Monitor speakers will be a huge step up. Never tried the PreSonus Eris range. Shop around a bit first to look at alternatives.
Going from built-in TV speakers to a dedicated system will be a huge improvement almost no matter what you get. Now the fact you are looking at monitor speakers in particular PreSonus's range tells me you are looking for something for mixing/mastering.
With that in mind, I've never tried the PreSonus Eris range so I can't comment on their quality. However, for a huge leap up (not in price), I would recommend KRK classic 5s or a pair of Focal Alpha 50s as a nicer starter to you audio production journey.
Shop around a bit. There are some really good guides out their for finding the correct studio monitors for you. Hope that helps!