rockford p3002 and p210s4 setup advice

You have two safe options here. One is to bridge the amp mono and wire the subs in series to a 8 ohm load, the second option is to wire one sub to each channel. You have a less than ideal match of amp to subs in this case. Don't stress about it though, that amp will make a fine addition to power up the front speakers in the future. Replace the amp with a mono amp that makes maximum power into 2 ohms. Then rewire the subs in a parallel circuit and bump on down the road.