When a user logs into my Terminal Services box any printers currently installed on the local PC are automatically mapped in that client's TS session (ie, Lexmark Optra E312 (from LAPTOP42) in session 14).
On your TS Admin Tools go to Terminal Services Configuration. Select the connections folder and then click on the RDP-tcp connection and look at its properties. In Click on the Client setting tab and there is host of options there to play around with.
Remember though, your AD user profile settings may overide anything you set there.
At a user level, go into the user properties in Active directory users and computers and select the Environment tab. There are options in there to select client printers and client drives.
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