Not a real need to seal lateral holes, but if it makes you warm and fuzzy, use fire sealant caulk around the holes. Your main need will be where there is a transition from one floor to another. You don't want the potential fire to move upward. That is the purpose of fireblocking, too. https://www.homedepot.com/p/3M-10-1-oz-Fire-Block-Sealant-FB-136/100390499

 

The bigger question is about the pipes?

 

I agree with Chandler. Those joists will burn through fast so firestopping will do very little. By the time a fire builds up pressure and squirts through the holes, the joists will be compromised. You could caulk them to minimize the movement of cold smoke or if you want firestopping I think Hilti FS-ONE will work. It swells to fill where cables melt away and it is ok for cabling.