Securing IP addresses to different domain names

I have several Remote Monitoring devices, connected to Routers with public IP Addresses.
I would like to link these with domains and subdomains (e.g. Router1 → 132.123.123.123 shows as Router1.companyname.com / Router2 321.321.321.321 shows as Router2.companyname.com), and also have the sites SSL Secured. I have tried redirecting Domain names to the IP Addresses, but this still shows the Router as an IP Address and as unsecure on search engines, I was recommended to make a subdomain and A-NAME records but I am uneducated on this and not sure how to go about this. Any help would be much appreciated, Thank you.

Just add create a subdomain for each of the IP addresses in your Cloudflare DNS here…
https://dash.cloudflare.com/?to=/:account/:zone/dns/records

Make sure your SSL/TLS setting is set to “Full (strict)” here to ensure the connection is secured end-to-end…
https://dash.cloudflare.com/?to=/:account/:zone/ssl-tls

You will need a valid SSL certificate on each router, their web interface will should allow you to upload one in place of their usual unsigned ones. If using the Cloudflare proxy you can use a Cloudflare origin certificate…

…or just a use a certificate from LetsEncrypt or similar.

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