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Back in September, I received a package of Chaos Terminators from my cousin who works at one of the games workshop headquarters in Tennessee.

Having no background knowledge of the hobby, I went out to my local games store and bought a base coat spray for the unit: https://www.games-workshop.com/en-US/Incubi-Darkness-Spray

When I applied the spray, the figures looked awesome! I was overall satisfied with the color I chose.

However, after looking up tutorials on youtube, I began to realize that I needed to prime the models beforehand using a primer spray/Imperial primer. So the question I have is, what's not going to happen to my models now that I never primed them?
Because to be honest, they look fine the way they are: http://imgur.com/SnCjri9

Also is there any way I could remove the paint and start back to it's untouched plastic state and apply the primer?

If it sticks at all, you're fine. It may be weaker and scratch off easier, but if they're your first models i wouldn't stress about it.

One of the greatest mini painters in the world doesnt use primer. paints directly on to the model.
http://www.coolminiornot.com/forums/showthread.php?54571-Sproket-s-WIP
more detail and smoother coats are possible, but he is painting for display only. If you are to game with your minis, the paint would just, raher quickly, begin to rub off.

If you're worried about it wearing off over time, a protective coating of varnish will help you out. That'll help seal everything in