No, they haven't been confirmed. It's been rumored because Gregg Berger is supposed
to be a VA in Prime, as well as this comic being the bridge of seasons 2 & 3, but I do not believe Hasbro or Kline ever came up straight forward saying: "The Dinobots are coming to Prime. Happy?"
The reason they haven't confirmed this is rumored that they want us to read the comic in order to find out for certain.