I've been an HP dealer for 25 years or so. I would disagree with the comment about newer lasers drawing less power....
I was certified to service HP (and Lexmark, Canon and serveral other brands of) laser printers back in 1996, not that that's relevant here.
I think that one of the most common misunderstandings of physics I encounter is the differentiation between energy and power.
Newer lasers use less energy, but draw more power.
Energy is the number that determines what you pay on your electric bill. It is represented by a total amount of something.
Power is a rate of energy user over time. With those facts in mind...
...HP gives guidance - only 2 printers per 15A circuit....
I'd say that HP's 2:1 guidance is reasonable IF and only if you are printing continuously (a worst case scenario). In your case, you are not, and I expect you will have a rather low duty-cycle (everything will have plenty of time to safely cool off between uses).
Here's a little background on laser printers. The ONLY part that consumes a significant electrical current is the fuser. Back in the early days, it would be a teflon coated oiled metal drum with a quartz heat lamp inside that kept it as hot as an iron. That "iron" melts the thermoplastic coating of the toner particles, fusing it to the paper.
Over the years, there have been improvements in energy consumption by reducing the thermal mass of the fuser and also by increasing the power input. Yes, more power into the fuser adds up to less energy. But that's only because more power means you can get away with less on-time.
So, nowadays, rather than continuously burning hundreds of watts to keep a large and heavy drum hot all the time, you're pulsing thousands of watts through a thin foil just for the seconds you need it to be hot. This is why the power requirements (and light dimming effects) of lasers are so extreme. For the instant that the fuser starts up, that printer is likely pulling more current than everything else in your house combined, just to heat it up to that melting point in the fraction of a second before the paper reaches the fuser. And the problem is even more pronounced in color lasers, which have to fuse each of the 4 (or perhaps 3) colors separately.
The good news is that modern laser printers (anything from perhaps the past 2 decades already), now use about as little power as possible, and that power is mostly determined by the paper speed. The melting point of the toner hasn't changed in all these years, so the idea is to apply just enough power to the heating element that the toner fuses at the same speed as it passes over the fuser. And that's good news for you, because you'll be fielding a bunch of relatively small printers, rather than a bunch of workgroup printers. These smaller and slower printers just don't require as much power to work.
Your circuit breaker is designed to protect your circuit's wiring from damage. It has what is called a time current curve that determines how much current is required to trip it. For a typical 20A breaker, the current required to "instantaneously" trip a breaker is usually a MINIMUM of 120A (with a current of double that being guaranteed to cause an instantaneous trip). That's a LOT of current, and while I think it might be possible for the perfectly coordinated startup pulses of four smaller laser printers to trip a 20A breaker, the odds of those all aligning in a bad way are pretty low. On the other end of the time current curve, while the breaker is designed to not ever trip below 20A, it also can run at 30A for a 20 perhaps as long as 120 seconds before tripping. So, if printing a sheet takes less than 20 seconds, you could safely run 6 printers on a circuit without tripping the breaker.
Based on this, I'd say that a rough guess of four printers to one 20A circuit ratio should work for you with few (if any) nuisance trips.
The vendor's proposed solution is putting every pair of printers on a CyberPower PR1500 UPS. If I understand, it's the "line interactive topology" that would allow this UPS to prevent peak draws from blowing building circuits...
For this, I have an emphatic NO! A Line Interactive auto-transformer will RAISE the current draw from the circuit when the voltage drops as it steps up the output. This is on top of the totally correct advice above about not running a laser printer on a UPS.
Also, something I didn't consider in the above analysis is voltage drop. In your case, voltage drop is your friend. That's because when the voltage on the circuit drops during the fraction of a second that a fuser is drawing a wild inrush current, the lower voltage limits the inrush current on all of the printers on that circuit, and the greater the voltage drop, the greater the effect. Basically, (pulling rough guess numbers out of my rear here for the sake of an example) if say one printer draws an inrush current of 35A, four together would be closer to 125A, and not the 140 that you'd get by simply adding them up. Now I'm not suggesting that you run laser printers on unnecessarily thin extension cords, but I'm sure your setup will be using extensions, and that too will help limit the inrush current. So those insane inrush currents measured when the printer is plugged into a circuit very close to the main panel will be significantly lower when on an extension cord (as it will be).