Police Chief Howard Jordan says the teens were arrested Monday and Tuesday in the April 2 shooting of Quinn Boyer.
The 34-year-old Boyer was stopped at the sign in the Oakland hills when a car pulled up beside his car and he was shot in the head at what was described as point-blank range.
He died two days later in a hospital.
Jordan says the boys—two-14-year-olds, two 15-year-olds and a 16-year-year-old—are facing murder and other charges, including robbery and carjacking.
Boyer had been a paramedic since 2008, working for Santa Clara County Ambulance for the past two years.