This is one of those weird edge cases.
Legally - printing that may constitute infringement.
In practice - none of them will ever sue over usage like that because
A) it's bad press. Facebook sues small business over using their social media icon! no way.
B) their business model relies on us promoting their brands for free. they might be more pissed if they got left off rather than included
if you print a shirt with a big ass facebook logo and nothing else
yeah you're asking for it.