There are various ways printers can work within a Citrix environment.
Some of this depends on the version of Windows, Citrix, and Citrix Client
Printers that map from client to server can use:
1. Native Drivers
-> These are drivers that shipped with the Operating System and are Certified to work.
2. Installed Drivers
-> You can install specific drivers on the server. Best Practice is to only install drivers that are WHQL certified for the OS you're installing on.
3. Universal Print Driver (Clients lower the 9.2 I believe)
-> These are generic HP drivers that allow some/most printers to print with basic functionality.
4. Citrix Universal Printer (Clients 9.2 or higher)
-> This method sends the print job to the client with no rendering (EMF file) and let's the driver installed on the client render the print job.
This all depends on the version of Citrix Presentation Server (XenApp), Citrix Client, and configuration (Policies, local server settings, etc.).
As I said above, I recommend using the Citrix Universal Printer. That way you don't have to worry about drivers for the server and only a working WHQL driver for the client.
Short Answer if you want to install the driver on the server:
If the Konica Minolta Biz Hubs have WHQL drivers for the Operating System your running on the Citrix Server it should be compatible.