We introduce Z2-valued bulk invariants for symmetry-protected topological phases in 2 + 1 dimensional driven quantum systems. These invariants adapt the W3-invariant, expressed as a sum over degeneracy points of the propagator, to the respective symmetry class of the Floquet-Bloch Hamiltonian. The bulk-boundary correspondence that holds for each invariant relates a non-zero value of the bulk invariant to the existence of symmetry-protected topological boundary states. To demonstrate this correspondence we apply our invariants to a chiral Harper, time-reversal KaneMele, and particle-hole symmetric graphene model with periodic driving, where they successfully predict the appearance of boundary states that exist despite the trivial topological character of the Floquet bands. Especially for particle-hole symmetry, combination of the W3 and the Z2-invariants allows us to distinguish between weak and strong topological phases.