It makes sense that Secure Boot must be on for BitLocker, at least if you're using the self-encrypting drive option (hardware encryption). However, this message may appear even if Secure Boot is enabled.
I got the same error message after a recent Server 2016 reboot. BitLocker had been working, but it suddenly lost track of the BCD info and would not resume.
Microsoft KB929834 discusses the issue but doesn't explain how to fix it if your System volume doesn't have a drive letter.
https://support.microsoft.com/en-us/topic/error-message-when-you-try-to-run-the-bitlocker-drive-encryption-program-cannot-run-39e3c3f5-4f5f-242c-504a-ee55e5015eee
Finally found a Veritas article that explains how to extract the correct volume number using diskpart > list volume, then use bcdedit to fix the BCD. Based on the OP's description of his partitions, the commands would be:
bcdedit -set {BOOTMGR} device partition=\Device\HarddiskVolume2
bcdedit -set {MEMDIAG} device partition=\Device\HarddiskVolume2
I blogged this with screen shots here:
https://www.mcbsys.com/blog/2019/01/bitlocker-wizard-initialization-has-failed/
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