Trigger warning: it goes to the NRA's political action site... BUT they do have a comprehensive section on gun laws by state. This link goes right to Pennsylvania's section so you can bypass all the shit on the front page.
https://www.nraila.org/gun-laws/state-gun-laws/pennsylvania/
It looks like there is no firearm registration or permitting of owners in your state. The have relevant sections of state law on there (click "More" as needed) so you can see the actual wording of the laws.
Was your late relative also in Pennsylvania? Because if so, then it's the same as his or her TV or armchair being passed to you. No extra paperwork or anything; it's just a physical object changing hands.
Also, if you can identify the make and model of the gun you can poke around on auction sites like GunBroker.com to see what the values are.
The way I see it, you have a couple of options here. You might want to keep them for yourself, or you might want to sell them. Either way, if they're reasonably old you should poke around a little bit and see if they're worth a few hundred each, or a few thousand each. Value depends on a lot of variables, including history, scarcity, embellishments, and physical condition.
For example, you might have a ordinary-looking Colt revolver, but then it turns out it's in a caliber that Colt only made 200 of and it's highly valued by collectors. Or at least worth twice what a regular-caliber version is. Or maybe Colt only made a few that were nickel-plated.
Probably the best thing to do would be to take each gun out, make sure it's clean AND UNLOADED (!!!), and take several high-quality photos of them. Maybe use a tripod to avoid blurriness. And maybe not use a flash (just strong indirect lighting) to avoid glare. Take a picture of all the markings you can find (like manufacturer's logo, serial number, caliber, etc.) as well as of the action, stock, grip, muzzle, breech, sights, etc. Pop open the cylinders of the revolvers and take pictures of each end of it. For the rifles and shotguns, take pictures of the actions both open and closed.
Poke around on the internet for a while to get a feel for how these things are valued. Then if you want to sell them you can go to a gun dealer and show him or her the pictures and see what kind of price is offered. Or, if you want to keep them, now you have a timestamped record of the guns and their serial numbers.
You can PM me if that helps you.
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