The Zoq-Fot-Pik show up in SC:O.
Second, the Zoq-Fot-Pik aren't a character. They're the name of 3 species from SC2.
Third, you can't copyright a word. How many times do people have to explain this to you?
Fourth, while an alien species called the Pik are in SCO, they are not expressed remotely similarly to anything from SC2. Moreover, this species presence is so incidental they don't even get their own alien image.
You would have a much, MUCH stronger argument saying that the Battlestar Galactica was in SC2 (Ur-Quan ship) than claiming there are SC2 characters in SCO. You can't have it both ways. The Ur-Quan Dreadnought as well as the other ships that were obvious derivatives of popular Sci-Fi ships have a much bigger place in SC2 than a one-off easter egg of an alien species called the Pik. Which, again, we own the trademark for.
You've used the Arilou, Chenjesu, Melnorme, Orz, Yehat, Spathi, and Ur-Quan in your marketing materials.
All trademarks owned by Stardock. Because, as others have tried to explain to you, words can only be trademarked. And despite Stardock owning those trademarks, none of them are used in Star Control: Origins. Future Star Control games will likely feature aliens that use those trademarks. The only question is under what circumstances Stardock will allow Paul and Fred to make games that use its marks.
Lastly, even if all of what you claimed were true, it would not even come close to meeting the minimum threshold necessary to file a DMCA claim against Star Control: Origins. Because, again, it would be like Universal filing a DMCA claim against Ur-Quan Masters for having a pretty blatant derivative of the Battlestar Galactica in the game.