Can the paternal grandparents get custody if I have a notarized temporary guardianship form giving me guardianship over her signed by my daughter?

Sounds like you have a temporary guardianship. In a custody hearing, the question of the child's biological mother AND biological father's parental rights would arise. The court would look at what is in the best interest of the child and might make a temporary decision rather than a permanent one at this point. Obtain an attorney.

Without seeing what you have, I don't know how good it is. Since the child is not living with either parent, the paternal grandparents can certainly file a third party custody action, but they would have to show, not only that the parents are unfit (easy) but that the kid should be moved from you to them, a much harder thing to prove.

Only if they go to court and ask for guardianship.