Yes, your understanding is correct. Bootloader requires Tx and Rx for working and could not use Software Transmit UART as communication interface. Mentioned table tabulates communication interface supported by different devices in general and will be different for PSoC 4000 and PSoC 4000S devices. Agree, that table is confusing and will update accordingly.
Are you facing any difficulties with UART based bootloader in PSoC 4000S?