After messing with it for a while, found that I had to navigate to ./turboprint than click on Run for both .cfg files. This caused the printer control and printer monitor to show up in 'System' 'Admin...'. Then I was able to right click on them and add them to the upper panel bar like I wanted.
Mate is whacked. But I like it so I'm sticking to it. My version is 1.26.0.