Updated answer
Per the manual, you are NOT guaranteed atomic reads. However, their intent is for reads with FIFOs to be atomic. From paragraphs 2 and 4 of Rationale | Input and output
The standard developers considered adding atomicity requirements to a pipe or FIFO, but
recognized that due to the nature of pipes and FIFOs there could be no guarantee of
atomicity of reads of {PIPE_BUF} or any other size that would be an aid to applications
portability.
I/O is intended to be atomic to ordinary files and pipes and FIFOs.
Until you see evidence otherwise, I would still be willing to say that you are fine.
Original answer
Based upon your previous question, I'm assuming all of your reads will be less than PIPE_BUF as well.
I don't believe you'll need any additional serialization around the reads since your unit of consumption is less than the guaranteed atomic, thread-safe write amount. If you had sequences of objects that needed to be read, then you would need some additional mechanism for serialization.