That note in the paperback is an editorial note made by the publishers, I'm sure.
Seems to meOrthanc and Cirith Ungol are the Two Towers.
We don't see the main action of the other three (Minas Tirith, Barad-dur, and Minas Morgul) towers in The Return of the King. Orthanc is obvious, and Sam/Frodo reach the stairs of Cirith Ungol (as indicated by there being a chapter named that).
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...take counsel with thyself, and remember who and what thou art.
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