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When you relaunch Uncharted it should detect your controller as a Dualshock and play it exactly as you do on Playstation with the correct prompts. Only problem is it will probably only work if plugged into a USB port with a cable (assuming you don't have Sony's own Dualshock dongle).
There isn't a simple point-click setting to change the images that display in those help tips.
Easiest solution is to just get used to them. I never have issues when playing on someones Xbox and I don't have issues playing on my PS.