As said above, extended hotbars are your friends. Somewhere way back, JackFross posted one and I use basically the same one.
Basically, my face buttons (Triangle, Square, Circle, X) are my combos on my main bar. So TTT combo is on R2 (with Fang&Claw on the Triangle spot), and on L2 my CT combo is there (with wheeling thrust on Triangle). Then the d-pad buttons are cooldowns (Battle lit, invigorate, B4B, mercy stroke, etc.)
Then on my extended bars I have defensive cooldowns, potion, jumps (and power surge) and phlebotomize.
As suggested, I have Leg Sweep and HT in the same position on both extended bars, so that if I mess up which hotbar I access, I don't have to stop everything.