“each process is guaranteed to get its turn at the CPU at least every t seconds” means that for a interval of t seconds the current process should get its turn again at least once. It is allowed to get it more than once, but at least once is the minimum.
That is why we take the remaining time (q(n-1) + ns) to be less than or equal to t, so that there is possibility for the process to get its turn even twice, thrice, etc.
On the other hand if you think of at most here, then the condition would be turned opposite
t <= q(n-1) + ns, i.e, the process should only get its turn at most once in the interval of t seconds.