Remove the printer from >System Preferences>Printer/Scanners and add it back in to refresh drivers and certificates.
if you still have issue—
Open >System Preferences>Software Update (Command R will reload and do a fresh check)
Update: HP Printer Software 5.1 should now be becoming available through Software Update to fix this issue.
(2220 UTC 23 October 2020)
or Apple direct download:
https://support.apple.com/kb/dl1888?locale=en_US
or
If you have continued issue:
download this package which will update drivers AND THE CERTIFICATE:
ftp.hp.com/pub/softlib/software12/HP_Quick_Start/osx/Installations/Essentials/hp-printer-essentials-S-5_14_8_4.pkg
download link above at the ftp address