Yes, all of this stuff was laid out in my financial aid package upon acceptance to the program - they mapped out six years of grad school and showed how each year would be funded (which included teaching positions, etc). I did not apply separately for anything.
It may be that most of those positions have been reserved for PhD students (if that is an option at the department). It may be possible for you to get the “leftovers,” however.
As others have said, ask before you go.