In this sentence, पी लो is a compound verb, http://www.learning-hindi.com/post/6179578363/lesson-114-compound-verbs-part-2
Agreed, drink tea sounds like a general statement. I see one context where this could make sense, when you say you find water too cold to drink in winter and a friend gives you this advice "Drink tea, it's hot". But that's far-fetched compared to "Drink your tea, it's hot".
Since "It is hot" implies that the speaker is talking about tea that is visible to the other person, it requires 'the' in English. There are two criteria: second mention (not applicable here) and 2. shared knowledge (as here). Teaching the use of articles to speakers of other languages that don't have articles is very hard because the criteria involve what is going on in both the speaker's and the interlocutor's mind. For English speakers learning Hindi the reverse problem obtains. We are trying to learn whether nouns in a given sentence are definite, indefinite or ambiguous. These sentences without context just can't create enough information for decisions about using articles in English. (Although this pair actually did and Duolingo ignored it.) The Duolingo translation is nonsensical here. Elsewhere Duolingo accepts only one translations with or without articles where there is not enough context actually to decide. Learners, then, are hopelessly searching for criteria that are not there. "Ambiguous as to definiteness" is an important category in itself.