I think Zooz's statement is talking about using it only to control the relay (i.e. open/close), but then not involving anything else (contact sensor or tilt sensor) in the overall setup. In that case, the Z16/17 can of course open/close the door just fine, but you don't have any conclusive indication of the door's actual position.
The entries with the "Discover" button are ZW ghosts - you need to get rid of those, Those entries don't have any neighbor values >1, so you should be able to remove them without a z-wave stick. Check out this thread for more info.
I have been using Z16/17s for many years to operate my GDO -- I've wired dumb reed sensors into them for door-position information (instead of a tilt sensor), and it's always been a super reliable setup for me.
