HP's security certificate has expired. Search HP for a resolve here.
Your Mac has encountered an expired security certificates.
https://h30434.www3.hp.com/t5/Printer-Setup-Software-Drivers/HP-Utility-fails-with-Code-Signature-Invalid-MacOS-10-15-7/td-p/7823883/highlight/true
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Official Apple HT Published Date: November 06, 2020
HP's security certificate has expired.
* If your HP printer doesn't work and you see a warning that HP software '...will damage your computer' https://support.apple.com/en-us/HT211921
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Do not feel alone here, there is currently a HP issue…And we are flooded with similar complaints
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
If you have continued issue:
The solution is to 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
If you still have an issue, delete the existing printer in
> System Preferences> Printers & Scanners, and add it again.
Connect an AirPrint printer to a Wi-Fi network - Apple Support.
https://support.apple.com/en-us/HT201900
you can also try reset print system if necessary:
If you can't print from your Mac or iOS device - Apple Support
https://support.apple.com/en-us/HT203343
