- Given c one cannot reveal m.
The statement should thus be, given $c$, any polynomial type adversary $A$ can determine $m$ with a non-negligible probability.
This is so because - anyone can brute force all possible $m$ and apply $PRF_k(m)$ and check if it equals to $c$. This might be computationally improbable (not impossible since the adversary $A$ can make a guess and get lucky).
Here are a few things to note as well. PR-functions are provable secure considering that underlying assumptions that some problems are hard to solve (or cannot be efficiently solved in polynomial time). Eg. discreet logarithmic problem, factorization of the product of 2 n-bit primes, subset problem. (This is not a concrete prove since hard to solve is just as assumption and one needs to prove $N != NP$ to make a concrete statement)
Also note that if the security parameter (size of $m$ and $c$) is low, them brute force attack is feasible.
This as long you have a large enough security parameter, any polynomial time adversary and a PRF that is provable secure (under the assumption on a hard problem), you can say given c, one cannot find m with high probability.
- Without $k$, given $m$ one cannot find $c$
Since it is a $PRF_k$, you can say that only with non-negligible probability, give a message $m$, any polynomial adversary $A$ can guess $c$.
An example of negligible probability is O($2^{-n}$) where n > 60
This should be formal enough to say (although one can always add more details).