Right, your motel setup is what we typically do as well, although our modulators have the same notch filter built in, in fact, whatever channel you set the modulator to it automatically notches out.
Some systems call this an "HBO box". Although, we don't use a digital box to do it... as HBO is still broadcast as channel 24 (scrambled) and we use a basic converter by general insturments to descrable that. A digital box would be overkill, but then again... I work for the cable company -- and you don't have access to that, so your setup works fine too.
If you have a scientific atlanta box, which are the "explorer" series, or a motorola box, they both have bypass modes that require a bypass module. That module allows you to press the bypass button on the remote, thereby bypassing the box and turning the box into a passive unit, allow the normal CATV channel spectrum to hit your television. So... what you could do, is change your digital box output channel to channel 6 for instance, set your TV to be locked to channel 6, and modulate over channel six before the box. That way: when box is enabled, normal digital channels, as well as analog channels come in (minus whatever you have on channel six, that would be the camera input) and then you have one button access to your camera output, by hitting the bypass button. It's somewhat redudant, but does allow you to have one button access. Then again, hitting six and select isn't that difficult either.
I think the easiest solution would be to notch out channels in the 90 region which are commonly not used due to dropoff, and modulate over one of those. Your digital box should recognize whatever channels your CATV company does use, which for instance -- we have a diagnostic channel on 98, so if you modulate over that -- you can still tune to it with your digi box.
Many solutions.
Before I even get there, I need to finish rewiring my house... which is turning into flexbit nightmare with 2" PVC conduit in the walls for the inhouse vaccum cleaner.