I believe there is no way. The Temporary DB is just that. A Temporary Database - SQL Server uses it as it wishes. I think it leaves some tables hanging around as a sort of caching mechanism - if it needs to use that same table structure it already exists and it can save a little time rather than recreating it.
The tempdb is SQL Server's own thing and it uses it as it pleases in it's own internal way. I would just ignore those tables. If it needs to reclaim the space, it will delete them otherwise there is no urgency for it to delete these.
An analogy would be if you want to see which variables still exist during or after a stored procedure.