Hi Stefan,
You get that error message because name of the custom table is not really an object in Kentico. Object will be 'cms.customtable', and custom table will be only an item of those object. I don't have experience with that version of Kentico, but I guess that you can use List box control. If you use list box, you can configure it to use either Macro or SQL query. Because it's custom table data, I will suggest you to go with SQL query, something like this:
SELECT ColumnValueName, ColumnTextName FROM xxx.classnameofthetable
and then use this column names for Item transformation and Value column like macros, f.e.: {% ColumnValueName %}
Like I mentioned, I don't have experience with 8.1 version, but should give you some point to start. Hope this will help.
Best regards,
Dragoljub