If revenue from booksales wasn't or couldn't be taken into account when budgeting for a TV program, think how much more each program would cost the BBC, and the licence fee increase to compensate.
Also, you can look at and use a book as often as you like, at your leisure, in your own time, without people complaining about repeats.
But the idea that "we" the licence payers own the BBC is a whimsical fallacy. We, if we buy a licence, own the right to watch the BBC, so we sponsor it, not own it. Just as buyng a Road Fund Licence for your car give you a right to use the roads, not own them.
Another way of looking at it is that if the recipes were on the Internet, he would be paid in some way for that, so, in that view would it not make it that we were paying 3 times as most of us have to pay something for our Internet access.
As to the publishers, some are by the BBC some are not. Copyright is a very very complicated subject, but when it comes down to it, buying a book is an option that many many people are glad to have, when James Martin DIDN'T produce a book for one of his series', that was complained about as well.