You can do it from a settings page on the car display. Older cars had a pushbutton under the steering wheel. You set the pressure properly and then reset the alarm point.
The gen5 has the newer TPMS which is simpler and better than the older style. While you can still set the pressures the old way(inflate the tires to what you want, then tell the car to use that setting), you can also just input the pressure you want to use using the up/down buttons on the steering wheel. You can use that same screen to see what pressure setting they're currently using. Pg. 431 of the HEV manual, and pg. 520 of the PHEV manual.
In past generations the door decal shows two sets of values: higher for the smaller dia wheel and lower for larger dia wheel. With gen 3 it’s 35/33 and 33/32 psi respectively. IIRC…