Temperature-dependent dynamical spin correlations, which can be readily accessed via a variety of experimental techniques, hold the potential of offering a unique fingerprint of quantum spin liquids and other intriguing dynamical states. In this work we present an in-depth study of the temperature-dependent dynamical spin structure factor $S({bf q}, omega)$ of the antiferromagnetic (AFM) Heisenberg spin-1/2 model on the kagome lattice with additional Dzyaloshinskii--Moriya (DM) interactions. Using the finite-temperature Lanczos method on lattices with up to $N = 30$ sites we find that even without DM interactions, chiral low-energy spin fluctuations of the $120^circ$ AFM order parameter dominate the dynamical response. This leads to a nontrivial frequency dependence of $S({bf q}, omega)$ and the appearance of a pronounced low-frequency mode at the M point of the extended Brillouin zone. Adding an out-of-plane DM interactions $D^z$ gives rise to an anisotropic dynamical response, a softening of in-plane spin fluctuations, and, ultimately, the onset of a coplanar AFM ground-state order at $D^z > 0.1 J$. Our results are in very good agreement with existing inelastic neutron scattering and temperature-dependent NMR spin-lattice relaxation rate ($1/T_1$) data on the paradigmatic kagome AFM herbertsmithite, where the effect of its small $D^z$ on the dynamical spin correlations is shown to be rather small, as well as with $1/T_1$ data on the novel kagome AFM YCu$_3$(OH)$_6$Cl$_3$, where its substantial $D^z approx 0.25 J$ interaction is found to strongly affect the spin dynamics.
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