Micheli, who works with the Carabinieri police, confirmed the world title won last year in Alexandria, Egypt.
Sotero, of the prison police corps, won her first world medal following her victory at the European Championships in Krakow, Poland, two months ago.
The two Italians had already obtained Paris 2024 Olympics quota places, so with her bronze medal, Brit Kerenza Bryson secured a second quota spot for Team GB at next year's Games.
The other Italian competing in the event, Alessandra Frezza, of the military air force, came 13th.
The result earned Italy the team gold medal for the first time since 1997, ahead of Great Britain and Hungary.
The modern pentathlon consists of fencing, freestyle swimming, equestrian show jumping, pistol shooting, and cross country running.
The event is inspired by the traditional pentathlon held during the ancient Olympics, and while the modern pentathlon was first held in 1912, its rules have changed several times over the years.
To make for a more exciting finish to competition, the latest set-up, as of the 2020 Olympics, consists of three separate events for fencing, swimming, and equestrian, which determine each athlete's starting time in the final event.
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