About gathering network printer inventory:
http://www.symantec.com/docs/TECH145268
It's likely already gathering information about local printers. But depending on how they were added, you may need to follow the above procedure for network and local printers so that it can gather information as the logged on user.
There are various pre-built reports at Reports > All Reports, then expand:
Reports > Discovery and Inventory > Cross-platform > Hardware > Printers, then select Computers with Installed Printers or Count of Computers by Printer.
Reports > Discovery and Inventory > Discovery > Printers > Network Printers (this would be ones discovered by network scans, which generally pull in a lot of gunk so I avoid them)
Inventory will pick up anything: Send to OneNote, Microsoft XPS, PDF printers, Fax, but also locally-connected physical printers that have been installed (but are not necessarily connected at this time).