The Yamaha HTR-5140 has no L/R preamp outputs, only a subwoofer output, so you won't be able to use them with that.
But they will make very nice computer monitors. Sometimes the 1/4" input on studio type monitors is also a balanced connection for a TRS balanced phone plug, but the MSP5's 1/4" input is unbalanced and you are good to go with the mono 1/4" male plug to RCA female adapter as HAL suggested.

I have the smaller Yamaha MSP3, which has a smaller 4" woofer (versus 5" woofer) and a single 20W amplifier (versus the bi-amplified 40W + 27W amplifiers).
Although I had a previous bias against metal dome tweeters, this speaker has taught me to judge each on its own merits, and the MSP3 sounds very clear and engaging without harshness or glare. The cabinets are also very solid and inert, and based on my MSP3, I can only assume that the bigger brother MSP5 would probably sound a bit better and you will likely be very pleased with them.
Steve