Here's the DMV procedures, forms and instructions for transferring ownership from the deceased to the heir:
While the DMV allows the transfer without probate, the bank is not obligated to accept the transfer that way.
In other words, the bank is within its rights to require you to be court appointed as administrator of the estate before it will allow the transfer of the secured title into your name.
I suggest you print out all the appropriate forms and pay a visit to the DMV and see if there are additional procedures when the bank holds the title.
I also suggest that somebody continue to make the payments on the loan account anyway. Otherwise the loan goes into default and the car gets repo'd.