You're using hotbard wrong.
Use extended hotbars. (Hotbar 2)
Have only hotbar 1 and 3 active when you have your weapon drawn.
Put the TWO or THREE skills that don't fit on the 32 slots on the 3rd hotbar.
This way, you use hotbar 1 and hotbar 2 (extended) almost all the time, tapping R1 once to get to hotbar 3 (hotbar 2 being disabled when weapon is drawn, only accessible by using the extended controls or R1+circle).
This is the correct way, and it will solve your problems.