An update...
So the service tech said that his system didn't show that my car is affected by any recall. I showed him the recall document that I printed out. He verified that my VIN is in the range of affected vehicles, but since it's not appearing in their "Oasis" system, he wasn't authorized to act on the recall. Guess I'll have to wait until I get the official letter in the mail.
They should still do a check on it if you ask them about it and tell them specifically what you want inspected. If they find a problem then write it up as a warranty claim like any other warranty problems. They may want an authorization labor/inspection charges if you do that, though. If they find a problem, then I'd expect those charges to be waived. Maybe take a look yourself first and see if there's anything readily apparent as a problem like Snoogie saw on his. If nothing is obviously wrong, probably not much danger, but keep an eye on it.
I checked mine last night myself and they weren't visibly loose like Snoogie said about his. I didn't get out my wrenches, but they were definitely more than just finger tight. No signs of fretting or other wear around the hardware either, so no obvious signs of a problem, but I'll keep checking on it periodically until I get a notice from Mazda on it. Haven't checked my CX-5 yet.