The move should not come as a surprise as both original cast members were seen less frequently during Season 3, which wraps Sunday night, as producers chose to have Brody's (Damien Lewis) home life become less of a focus.
Baccarin plays Brody's wife Jessica, while Saylor portrays their teenage daughter Dana, who took on a more prominent role during the first half of the third season to the dismay of some viewers.
Both actresses have been invited back on a guest-starring basis, the same way former regular Diego Klattenhoff (Mike) returned this season after leaving to star in NBC's "The Blacklist."
Baccarin welcomed a son in October and was pregnant throughout the filming of Season 3, which likely contributed to the decrease in screen time for her character Jessica. She was nominated this year for an Emmy Award in the Outstanding Supporting Actress in a Drama Series category.