I found that sympy.solvers.solvers.solve_undetermined_coeffs does what I want, e.g. using my example:
>>> # Sample problem (for testing)
>>> a, b, c, x = sym.var('a b c x')
>>> f = lambda x: (a+b)*x**2 + (b+c)*x + c
>>> g = lambda x: 3*x**2 + 5*x + 1
>>> solvers.solve_undetermined_coeffs(f(x) - g(x), [a, b, c], x)
{a: -1, b: 4, c: 1}