Qualcomm is being targeted because they bought Nuvia. In some ways, it's Nuvia being targeted. ARM alleges that Nuvia's architecture license required them to get ARM's approval before transferring their chip designs to another company and that without ARM's approval, all their designs had to be destroyed. Qualcomm bought Nuvia.
Apple and Samsung didn't buy a company that had designed ARM cores with this restriction. Apple bought PA Semi, but they were a PowerPC company before Apple bought them. Samsung has been making its own cores for a long time based on in-house designs. Qualcomm has tried to make its own cores and failed. It bought Nuvia because it failed to make its own cores. ARM alleges that Nuvia's license requires ARM approval for them to transfer their chip designs to another company. Therefore, Qualcomm/Nuvia is targeted by this lawsuit while Apple and Samsung aren't.
If you're ARM, you say that Apple and Samsung played by the rules of their licenses so there's no reason to sue them. If you're ARM, you say that Nuvia agreed it wouldn't sell the designs it made under Nuvia's license from ARM without ARM's approval. Nuvia then did sell the designs made under that license. Nuvia didn't play by the rules of its license, therefore they're getting sued.
When Qualcomm was developing its own internal custom cores, there was no talk of ARM suing Qualcomm - it's only come about because they bought Nuvia to bootstrap their custom cores where they had failed. ARM alleges this isn't allowed by Nuvia's license.