Parsley is supposed to come back but I've never had it do that. They say it's a biennial, so it should last 2 years before going to seed. If you get lucky it will reseed itself and you won't have to replant :) So, I'd say leave it alone and see what it does. Basil is an annual so you'd need to replant it every year anyway.
Rosemary should grow back, it's a pretty hardy plant, although I've never grown it in a colder climate like yours, I had it in California where the winter was milder than yours, with minimal frost and no snow. I live in Colorado now and due to the abnormally hot summer, everything I had died except my rosemary, while I was on vacation for a few days and it got to 100+ degrees while I was gone. I plan on bringing in my Rosemary (it's in a large pot) for winter, but winters here are worse than yours.