We discuss the dynamics of magnetic moments in d-wave superconductors. In particular, we focus on moments induced by doping nonmagnetic impurities into cuprates. The interaction of such moments with the Bogoliubov quasiparticles of the superconductors can be described by variants of the pseudogap Kondo model, characterized by a power-law density of states at the Fermi level. The numerical renormalization-group technique is employed to investigate this Kondo problem for realistic band structures and particle-hole asymmetries, both at zero and finite temperatures. In particular, we study the boundary quantum phase transition between the local-moment and asymmetric strong-coupling phases, and argue that this transition has been observed in recent nuclear magnetic resonance experiments. We determine the spectral properties of both phases and the location of the critical point as a function of Kondo coupling and doping, and discuss quantum-critical crossovers near this phase transition. In addition, changes in the local density of states around the impurity are calculated as functions of temperature, being relevant to scanning tunneling microscopy experiments.