Temperature is not the only factor in states of matter. The other factor is pressure. You can look up a “phase diagram” to see how they relate. Something that is cold but low pressure may remain a gas, and something that is hot but high pressure may solidify.
Actually, there’s even another factor, which is probably more relevant here: each substance has different melting/boiling points. Liquid nitrogen is very “cold” to us, so why is it still liquid and not solid? Well, for a very simple reason: nitrogen freezes at an even colder temperature than that.
So in short: it’s cold by our standards, but not cold *enough* for the gases in those planets’ atmosphere, and the pressure is high but not high enough to squeeze them into a liquid or solid (though the core of Jupiter is in fact liquid because of the pressure).
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