Timing Acquisition Module (TAM) configured for use in or associated with a WTPS and associated methods, apparatus, and systems. The TAM is configured to receive encoded beacons broadcast by wireless power receiver clients requesting power on demand. The TAM decodes the encoded beacons to identify which client broadcast the beacon and notifies the WPTS that a client is requesting power, along with an identifier of that client. In response, the WPTS transmits wireless power signals to the client to service the power request. The WPTS and client may use separate beacons or signals to command the client to broadcast its WPTS beacon, whereby phases of the beacon signal are detected by antennas in the WPTS antenna array and processed to direct the wireless power signals from the WPTS to the client. Multiple apparatus including a combination of a WPTS and TAM may be implemented in a wireless power environment in a cooperative manner, enabling a client to move within the environment while supporting power on demand.