I doubt a trust can do you anymore than a well written will can do. Both can designate beneficiaries for the individual firearms staying in CA, except registered assault weapons. Those need to be taken out of state iaw the State Assault Weapons laws, they can not be inherited.
Inherited registered firearms, need to be re-registered to the new owner as obtained by action of law. IIRC there is minimal charge for that. Those must go to legal recipients. Unregistered assault weapons, well those the appropriate party needs to get out of CA or otherwise legally disposed of (disposition does not mean throwing away) He may have a lot of unregistered guns. Registration was not required on a lot of acquisitions all that long ago and are legally owned. Those should also be registered by action of law methods. I expect that after listing unregistered firearms on a public document, they should probably be registered when transferred. The original owner needs not register them unless he wants to carry illegally. There are different penalties for carrying registered and unregistered firearms, even if the unregistered was obtained legally and never required to be registered.
The only problems apply to assault weapons, registered or not.