We provide an explicit Dynkin diagrammatic description of the $c$-vectors and the $d$-vectors (the denominator vectors) of any cluster algebra of finite type with principal coefficients and any initial exchange matrix. We use the surface realization of cluster algebras for types $A_n$ and $D_n$, then we apply the folding method to $D_{n+1}$ and $A_{2n-1}$ to obtain types $B_n$ and $C_n$. Exceptional types are done by direct inspection with the help of a computer algebra software. We also propose a conjecture on the root property of $c$-vectors for a general cluster algebra.