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I’ve just found this question in a sysml discussion forum:

Is it really not possible to place requirements objects on an Activity, State Machine, or several other similar behavioral diagrams?

Yes, it is not allowed to put requirement elements on a state machine or activity diagram. Since it is essential to show such cross cutting relationships SysML provides the callout notation. A comment symbol is attached to the state or action or to any other element in the state machine/activity diagram. The text inside the comment describes the relationships to the requirements. Although it looks like a simple comment it is a formal representation of the model. A good SysML tool could display the callout notation automatically.

SysML Callout notation

SysML Callout notation

The callout notation works for the allocate and the requirements relationships.

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