Small claims court IS civil court.  How much are these cars worth?

You have no standing to do anything in probate court.  If you think you can prove, with competent evidence, a contract by which your deceased boyfriend agreed to transfer title of one or both vehicles to you in exchange for you doing something for him (the legal term is consideration), then you will need to sue.  You would name the current title holder and, if different, whomever has possession of the vehicles.  Do you have any evidence -- other than your testimony -- of a contract with your deceased boyfriend?