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Nope, they are your allies can't take land they own or occupy.
Alliances are always a means to an end, never a long term thing, you get an ally with a specific purpose in mind and once that purpose is done you throw it away unceremoniously, as for your current problem, live and learn really, this is a pretty old but fair system, since it also allows you to screw the AI back if they ever call you into a war, I pretty much almost always cockblock my AI allies in EUIV doing exactly that, taking what they wanted and not giving it back.
DONT have allies to help you conquer. If you cannot handle enemies alone or with vassals then you should not be conquering in this time period
imho, coalitions should not be in this time period as that is an advanced form of diplomacy
also, this is not eu4
Well they aren't coalitions like EUIV, and this time period did had its share of alliances that were created because of the agressive expansion of an invading enemy. See the Gallic wars with Caesar, when different Tribes from Gaul banded together under Vercingetorix to fight off Caesar.
Or the Peloponnesian war fought between the Delian League led by Athens and the Peloponnesian League led by Sparta. Alliances were very much a thing in this time period.
in EUIV they eventually created a way to tell the AI that you want that land, though the AI could still chose not to give it to you (don't think that feature exist in Imperator though) so maybe in the future they will add something like that, but until then, you just gotta work fast.
Well the same thing is going to happen when you are the War Leader and your allies did a lot of the fighting along their borders. If they do not get what they think they deserve, they are going to be very unhappy with and may eventually break their Alliances and refuse to support you in future Wars. Even WORSE, you may end up having a future War against your FORMER Allies.
Keeping your Allies happy is an important part of games like Imperator, EU4, CK2, etc.