How would the left and right surround speakers on a 5.1 system make sound sound like its coming from behind ?

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Assuming you're talking about a soundbar, if it's properly placed, the room is shaped the right way, and the listener/viewer is in the right spot, a very good sound bar will simulate surround, by bouncing left and right signals off the walls and back behind where the viewer/listener would sit.

Cheaper soundbars will not work.

You can spend a little bit more, and get individual wireless speakers and place them behind you.