If they are vaccinated against it, they should be ok; HOWEVER, some vets like to play it safe and suggest revaccinating if they've been exposed to it.

The reason why we have to get rabies shots is because we aren't vaccinated against rabies yearly/tri-yearly like our pets are

Also, yes are you for certain that the kitten indeed had rabies? Rabies DOES NOT take a long time to develop in animals, its around 10 days give or take before you'll start seeing severe clinical signs, its a pretty quick onset. If its been a few weeks and none of your pets are showing signs, you're probably in the clear. I've been taught that rabies clinical signs are typically fairly quick; 10 weeks since possible exposure seems like a VERY long time, clinical signs of the disease should certainly have developed by then.

There is NO way to test for rabies except euthanization, decapitation, and sending tissue samples off to a lab.