I've read some things recently that Germans could have difficulty finding jobs, had limited promotion opportunities in the military, and were not well-represented in government, but I can't find hard numbers for comparison. That also doesn't say much about how Germans, Czechs, and Slovaks did or did not get along. I don't want to be seen as condoning Hitler's actions, but at the same time, it seems like there was something more nuanced happening than "Germans should be part of Germany."
Hitler said many things about the Sudeten Germans. First off "second-class citizens" likely refers to hor Germans were recognized as a minority in Czechoslovakia, despite having a similar population to the Slovaks. In every day life the distinction made nearly no difference, but to nationalistic Germans it meant everything. As for actual inequalities however there were nearly none. There were more German schools per capita in Czechoslovakia than in Prussia. Germans controlled 23% of judiciary posts (their exact share of the Czechoslovak population) and 25% of public health services. 15% of the Czechoslovak population faced unemployment during the Great Depression, mostly in the German regions, where Hitler likely based his claim of their difficulty finding jobs. In reality however, during 1930-35 the government paid proportionally more unemployment relief to Germans than Czechs, and spent more on road and other infrastructure repair in the German regions. In the years leading up to the Munich Agreement, facing pressure from the SdP, Czechoslovakia enacted more and more policies to improve German representation in public service, and granted them as close as they could get to full autonomy in the later years.
Most Germans enjoyed comfortable lives in the Czech lands, as their ancestor have lived there for dozens of generations. Most didn't even want to join the Reich, as they would hear stories of how life was like their from people crossing the border. So Hitler's alleged statements about the Sudeten Germans were mostly just alleged, with the goal to hype up the German population and try and sway the Sudeten Germans to break away.