Use meta-predicate maplist/4and prologue lambdas as follows:
?- As = [a,b,c,d],
Bss = [[1,2,3,4],[5,6,7,8],[43,34,56,5],[23,32,2,2]],
maplist(\H^T^[H|T]^true,As,Bss,Css).
As = [ a , b , c , d ],
Bss = [[ 1,2,3,4],[ 5,6,7,8],[ 43,34,56,5],[ 23,32,2,2]],
Css = [[a,1,2,3,4],[b,5,6,7,8],[c,43,34,56,5],[d,23,32,2,2]].
Edit
In the above quote maplist/4, various lambda members can be used, as indicated in the comment.
maplist(\H^T^[H|T]^true,As,Bss,Css)maplist(\H^T^ =([H|T]) ,As,Bss,Css)