If the modems had different fixed IP's there would not be a problem then you could telnet each one.
eg.
Modem A = 192.168.1.1
,, B = 192.168.1.2
,, C = 192.168.1.3
My modem HG612 is on the same IP range 192.168.0.2 Subnet mask 255.255.255.0 as my LAN 192.168.0.1/24, the modem is set up for PPPoE Bridge with transparent transmission, so the above IP's have no impact on the firewall.
So my set of Fixed IP's from my ISP get passed strait through the modem (no Nat) to the Hardware-Firewall which does all the NAT and routing etc..