From the moment the true visage of the Daoist temple appeared, Bai Qiu and Ao Tian tacitly used their Innate Divine Abilities to infiltrate the temple.
It's not that their personal divine abilities are so powerful that not even an Earth Immortal could sense them within their own Daoist domain, it's just that Qing Tian was already injured, and with Dao Kong drawing much of the attention to himself, it provided an opportunity for the two beasts.
And Bai Qiu and Ao Tian did not let everyone down. Su Chengyu allowing them to come was certainly not just for show.
Now that both beasts have reached the peak of the Demon Emperor realm, although they are still far from a Demon God, it would be a fantasy for any ordinary Demon Monarch to compare with them.
It is this strength and confidence that emboldened them to venture alone into the temple.