You can. If you have an Apple TV 4K you can set up the two minis (stereo paired) as the default audio.
Set up home theater audio with HomePod or HomePod mini and Apple TV 4K - Apple Support
Additionally you could add the big HomePod as the temporary output to play to all three.
Otherwise you can use control center to airplay to all three.
Use Apple TV to play audio throughout your home - Apple Support
You can also airplay to all three from your iPhone
*Please note they are not technically “paired”, you can only pair two of the same model but you may AirPlay to as many as you like.