They are locked on by security collars which lock against flats on the sensor. The fitting procedure is as follows:

1. Remove the original dustcap and slide the locking ring onto valve stem

2. Screw the sensor onto the valve stem in place of the original dustcap.

3. Engage the locking ring with the flats on the sensor and secure with the miniature hex key provided
Do the sensors need to be removed if you need to pump up your tyre after the sensors show a low reading ?
Yes, you do have to remove the sensors to pump up the tyres.
For HGVs and similar large vehicles, you can fit three-way adapters that allows you to pump tyres up without removing the sensors. These are made of stainless steel, so are rather heavy and must be supported. They are not suitable for car tyres,