I suspect that when Netflix licensed the shows, they became theirs, like Sony and Spiderman. As long as Netflix wanted to keep making them, they would keep the license. Why would Netflix sign a deal that any moment Disney could take back?
Unless Netflix chooses to do something with the characters, like a Heroes For Hire--which I doubt--Disney still wouldn't get them back.
But, like I said, I doubt Netflix is doing anything with them... but, then, if Netflix couldn't make them work, would Disney really want to spend money on an audience that wasn't enough for Netflix?
I don't have any special knowledge of the Marvel/Netflix contracts, but the normal television show arrangement is for the channel/platform (Netflix, in this case) to have right of first refusal. These cancellations should mean Marvel Television (the studio for these Marvel shows in association with ABC Studios) is now free to move the show to another platform.
In fact, it's possible that Marvel purposely sabotaged negotiations in order to get Netflix to cancel the shows and allow Disney to move those shows to another platform.