How do I stop the icons at the bottom of the screen from moving when I walk?

Do extra buttons and button prompts appear when they are in "loosened up" formation? Because in that case there may be some issues with the controller buttons. The standard configuration of the hud when visible is small, and when L2 is pressed they spread apart a bit and show the controls to activate each button. You may have to adjust the L2 / R2 button deadzone in the settings.