Taking the configuration from the original post, you can simply add targets to you telegraf job; supposing that the same Telegraf config is used on each server.
scrape_configs:
- job_name: 'telegraf'
scrape_interval: 5s
static_configs:
- targets: ['server-1:9126','server-2:9126',...]
It will produce the metrics (ex: cpu_time_user) with different instance
tag corresponding to the targets configured. Typing the metric name in Prometheus will display all of them.
If you really want to see only the name of the server, you can use metric_relabel_configs to generate an additional label:
scrape_configs:
- job_name: 'telegraf'
...
metric_relabel_configs:
- source_labels: [instance]
regex: '(.*):\d+'
target_label: server
Automatically adding servers to your Prometheus config is a matter of service discovery.