Remote Desktop Problems

I am running a network with 3 windows 2000 domain controllers.  I used terminal services to gain remote access to all three of the servers.  On occasion I have used the remote desktop feature on a windows xp pro desktop to access one of the servers remotely.  I have noticed that if I use remote desktop to access a server that soon I get calls saying that users cannot print to the printers on that particular server.  I go to the server and all printers will be gone from the printers folder.  That is the only noticible problem with the server and a reboot seems to fix it all.  I was guessing there was some problem with remote desktop (xp) connecting to server 2000, but now the same thing seems to be happening when I use remote desktop to access my 2003 servers too.  Help.