Running UCX 4.2 - ECO 1
SYS$PRINT is the default print queue and prints to an HP Jetdirect IP 10.1.1.8 (currently idle). I did INITIALIZE /QUEUE MLSYSTEMS /ON=SERV1::"10.1.1.9:9100"

Now when I do a SHOW QUEUE, I see that my new queue looks just like the default one, however it is STOPPED not IDLE -- when I try to START /QUEUE MLSYSTEMSBW then I get an error: %SYSTEM-F-IVDEVNAM, invalid device name -- it looks like I need to create a device to associate this queue with before I can start it -- any suggestions.

In ucx, if I remember properly, you can do the following, just remember to specify the processor "symbiont".
$ INIT /QUEUE /PROCESSOR=UCX$TELNETSYM -
/ON="server.xxx.com:9100" name_of_que
Note that some print servers use a different port when telnet printing...you will have to check the print server manual if this doesn't fly..

You shouldn't have to include a node name at all (unless you're clustered?). I have numerous HP lasers as print devices using the same version of UCX. Try using this:
$INIT/QUE MLSYSTEMSBW -/PROCESSOR=UCX$TELNETSYM -
/START/ON="xxx.xxx.xxx.xxx:9100" -
/RECORD_BLOCKING/DEFAULT=(FORM=DEFAULT)

Don't foget to edit your queues.com file for startup if this works.