On the iOS app:

1.   On the navigation bar at the bottom of the screen, touch
2.   The Devices screen appears. Tap the icon.
       
3.   Tap Change Device Icon, as seen above right.
4.   Select the device whose icon you want to change, below left
5.   Select the icon best suited to the device then tap CONTINUE
Below, the newly-assigned icon is seen in the Off and On states.

On the Android app:

1.  Touch the menu at upper left
2.  Select Devices
3.  Tap the icon and a choice of actions appears, as seen below.
4.  Select Change Device Icon
5.  Select the device whose icon you want to change:
6.  Next, select the icon best suited to the device then tap CONTINUE:
Below, the device is shown with its new icon: