Here we will only discuss the case of finite-dimensional irreducible representations (irreps) of a complex semisimple Lie algebra $L$.
Recall that the set $Z$ of Casimir invariants is the center $Z(U(L))$ of the universal enveloping algebra $U(L)$, cf. e.g. this Phys.SE post.
OP's question is answered without proof on p. 253 in Ref. 1:
Theorem 2. For every semisimple Lie algebra $L$ of rank $r$, there exists a set of $r$ invariant polynomial of generator $t_a$, whose eigenvalues characterize the finite-dimensional irreducible representations.
Ref. 2 (which is one of the most important books on Lie algebras, at least if one is interested in the proofs) does not bother to mention Theorem 2 explicitly. However, it is possible to string together a set of more fundamental results (and their proofs) from Ref. 2 to get the sought-for result. We outline the proof strategy below.
Recall furthermore that there is associated a root system $\Phi$ to the Lie algebra $L$, and let us imagine that we have picked a base $\Delta$ for $\Phi$. The order $|W|$ of the Weyl group $W$ is equal to the possible choices of (unordered) bases and equal to the possible choices of (fundamental) Weyl chambers.
It is proven in chapters 20-21 of Ref. 2. that a finite-dimensional irrep has a unique highest weight vector (unique up to normalization) with some dominant integral weight $\lambda$. We will from now on denote such irrep $V(\lambda)$. (Ref. 2. also defines a notion of a highest weight irrep $V(\lambda)$ when $\lambda$ is integral but not dominant. Such irreps are necessarily infinite-dimensional, so we will ignore those.) It follows that
Two irreps $V(\lambda)$ and $V(\mu)$ are equivalent (i.e. isomorphic) iff their highest weights are equal $\lambda=\mu$.
As a consequence of Harish-Chandra's theorem, the set $Z$ of Casimirs takes the same value on two highest weight irreps $V(\lambda)$ and $V(\mu)$ iff $\lambda+\delta$ and
$\mu+\delta$ belong to the same Weyl orbit,
$$ \sigma(\lambda+\delta)~=~\mu+\delta, \qquad \sigma \in W. $$
Here $\delta$ is half the sum of the positive roots. However if both integral weights $\lambda$ and $\mu$ are dominant, then $\lambda+\delta$ and $\mu+\delta$ must both belong to (the interior of) the fundamental Weyl chamber, so that the Weyl reflection $\sigma={\bf 1}$ must be the identity element. In conclusion, we get that
The set $Z$ of Casimirs takes the same value on two finite-dimensional irreps $V(\lambda)$ and $V(\mu)$ iff their highest weights are equal $\lambda=\mu$.
Harish-Chandra's theorem is proven in chapter 23 of Ref. 2. See also this and this related Math.SE posts.
Example: Consider the Lie algebra $L=sl(3,\mathbb{C})$. The Weyl group is $S_3$. The Lie algebra $L$ has two independent Casimir invariants $C_2$ and $C_3$,
$$C_n ~:=~ {\rm str}({\rm ad} t_{a_1}\circ\ldots\circ{\rm ad} t_{a_n}) t^{a_1} \otimes\ldots\otimes t^{a_n}, \qquad n~\in~ \{2,3\}.$$
Consider the 3-dimensional fundamental representation $F$ and the dual/contragredient representation $\bar{F}$ of $L$, which are non-equivalent irreps. They have highest weights $\lambda=(1,0)$ and $\mu=(0,1)$, respectively. In detail, if $t_a$, $a=1, \ldots, 8$ are generators for $L=sl(3,\mathbb{C})$, then (hattip: Peter Kravchuk)
$$\bar{F}(t_a)~=~ -F(t_a)^t,$$
so that the Casimirs $C_2$ (and $C_3$) take the same (opposite) value on $F$ and $\bar{F}$
$$ {\rm tr}_{\bar{F}}\bar{F}(C_n)~=~(-1)^n{\rm tr}_{F}F(C_n), \qquad n~\in~ \{2,3\}. $$
One may prove that the values are non-zero, so that the Casimirs $C_2$ and $C_3$ distinguish between the two non-equivalent irreps $F$ and $\bar{F}$, as they should.
References:
A. O. Barut and R. Raczka, Theory of group representations and applications, 2nd ed., 1980.
J.E. Humphreys, Introduction to Lie Algebras and Representation Theory, (1980).