Yubico provides YubiRevoke service which can be used for disabling YubiKey in case it is lost/stolen. Once the YubiKey is disabled using the YubiRevoke service, no one can validate the OTP emitted from the disabled YubiKey with the online Yubico OTP validation server.
As the Yubico SAML service (which is used for providing YubiKey based two factor authentication to Google Apps Premium account) uses the online Yubico OTP validation server, you can use the YubiRevoke service to enable/disable your YubiKeys in case they are lost/stolen.
You need to separately enrolled for the YubiRevoke service and need to create a admin account manually. You also need to add all of your YubiKeys manually in order to manage them using the YubiRevoke service.
Please visit the link below to create the YubiRevoke service admin account:
https://admin.yubico.com/yubirevoke/login.phpAlso in the Yubico SAML service, you can delete a user's account whose YubiKey is lost/stolen and recreate it again so that you can assign a new YubiKey to that user so that he can logging to Google Apps Premium account using a new YubiKey.
We hope this helps!