Problem with cats...(long story)

I first got my cats (two sisters) when I was pregnant with my daughter, they were from a rescue cat adoption. We always had some behavioural problems with them since we first got them, such as peeing/shitting everywhere (including my bed multiple times a day in the first week) despite allegedly being "litter trained". I ended up banning them from my bedroom and I still have to make sure the doors are always closed because sometimes they open on their own. It didn't really bother us too much because it seemed like a fixable problem. 

By the time my daughter was born, I couldn't remember the last time they peed on anything purposefully. That was until one night after spending hours in the hospital for blood tests (since my daughter was born with jaundice), we came home and left the car seat in the living room. We were so tired we just went straight to bed. In the morning we found the car seat sitting in a pool of cat pee. They had peed so much in it over night that it was completely covered and sitting in a puddle of pee. Since then we notice that our cats are much less affectionate towards us. We had to put most of her stuff in her nursery (like her play pen) because they would always get into it and we were afraid of them peeing on her things. 

There were a couple of times I caught one of the cats, Zoe, approaching the baby or kneading the blanket she was laying on if I stepped out of the room for a second to get something. I thought she was probably just curious about the baby. 

Today I had just rocked the baby to sleep, then lay her down on the couch next to me while I was knitting. In a split moment my cat lunged onto the baby's chest and then jumped away. She had no reason to do that because none of her toys or food is in the living room that she would have been trying to get to. Sofia cried for a minute but seems unharmed by the incident. 

I am afraid that my cats (or at least Zoe) are hostile towards the baby and would hurt her if I wasn't even looking for a moment. I love my cats but I'm more concerned about my daughters health and safety. I don't want to give them up but I don't see any other solution?

Any advice is appreciated TIA.