Once a hacker gains access to your network, the printers are more vulnerable than the PCs because they are inherently harder to protect.
However, the hacker cannot get into your network from the printer unless the printer has a direct connection to the outside world.
No one outside of the network can get into the network without coming through an outside connection. The portals include:
Your internet connection. (IDSN, DSL, Cable, Dial-up)
Wireless network hubs.
Users PCs
Users PCs connected to both the network and an outside line.
Now, a hacker may be able to get a trojan installed on one of the user PCs, and exploit the printer network. But, once they have reached that level, they have access to your entire network anyway.
Besides, not only your printers, but most resources on your network have static IP addresses.
As I said, your best defense is to limit and control ALL connections from any networked device to the outside world.
Ideally, you have only 1 connection to the outside world that has at least 2 levels of firewalls between it and your network.
Chas