The definition of a risk-neutral probability measure depends on the model. The (one factor) Interest Rate Model in Shreve II consists of a single zero-coupon bond $B(t,T)$ with maturity $T$ and of a money market account. So we want discounted bond price to be a martingale under risk-neutral probability measure. We define it as usual (i.e. Shreve II, 5.2.2.):
Assume that the interest rate $R(t)$ and the bond $B(t,T)$ processes satisfy their respective stochastic differential equations under the actual probability: $$ dR(t) = \xi(t,R(t))dt + \phi(t, R(t))dW(t)$$
$$ dB(t,T) = \mu(t,T)B(t,T)dt + \sigma(t,T)B(t,T)dW(t)$$
where $W(t)$ is a Brownian motion.
The discount process $D(t) = e^{-\int_0^t R(s)ds}$ so as usual $ dD(t) = -R(t)D(t)dt$
We want the discounted bond price to be a martingale:
$$ d(D(t)B(t,T)) = D(dB(t,T) - R(t)B(t,T)dt) = D(t)B(t,T)\sigma(t,T)\Big(\frac{\mu(t,T) -R(t)}{\sigma(t,T)}dt + dW(t)\Big) = D(t)B(t,T)\sigma(t,T)\Big(\theta(t)dt + dW(t)\Big)$$
where we defined the market price of risk $\theta(t) = \frac{\mu(t,T) -R(t)}{\sigma(t,T)}$.
We introduce risk-neutral probability measure $\tilde{\mathbb{P}}$ using Girsanov's theorem as usual.
The above considerations do not depend on the form of SDE for the interest rate process $R(t)$ so it is ok to start right from the riks-neutral probability measure as it is done in Shreve's book.