I'm also on PS4, and the hotbar just updated automatically for me.

First, try pressing R1 to see if that switches the new hotbar onto your normal buttons.

Or (you've probably tried it, but) see if you actually can use those skills with R2+[button] even though they're not in the normal position.

If not, then as Yui Tenshi suggested, have a look in settings for anything regarding the "pet hotbar" that you might need to turn on to activate it.