The recent observation of two hidden-charm pentaquark states by LHCb collaborations prompted us to investigate the exotic states close to theDΛ c ,D * Λ c ,DΣ c ,DΣ * c ,D * Σ c andD * Σ * c thresholds. We therefore studied the hadronic molecules that form the coupled-channel system ofD ( * ) Λ c andD ( * ) Σ ( * ) c . As the heavy quark spin symmetry manifests the mass degenerations ofD andD * mesons, and of Σ c and Σ * c baryons, the coupled channels ofD ( * ) Σ ( * ) c are important in these molecules. In addition, we consider the coupling to thē D ( * ) Λ c channel whose thresholds are near theD ( * ) Σ ( * ) c thresholds, and the coupling to the state with nonzero orbital angular momentum mixed by the tensor force. This full coupled channel analysis ofD ( * ) Λ c −D ( * ) Σ ( * ) c with larger orbital angular momentum has never been performed before. By solving the coupled-channel Schrödinger equations with the one meson exchange potentials that respected to the heavy quark spin and chiral symmetries, we studied the hidden-charm hadronic molecules with I(J P ) = 1/2(3/2 ± ) and 1/2(5/2 ± ). We conclude that the J P assignment of the observed pentaquarks is 3/2 + for P + c (4380) and 5/2 − for P + c (4450), which is agreement with the results of the LHCb analysis. In addition, we give predictions for other J P = 3/2 ± states at 4136.0, 4307.9 and 4348.7 MeV in J P = 3/2 − , and 4206.7 MeV in J P = 3/2 + , which can be further investigated by means of experiment.