Your instructions seem to be the ones before I did the GB update. I used to go into settings>applications>manage applications and there was a little gear on top left that allowed me to edit 3 of those icon buttons (or clicking on the app). But since the GB update I don't see how to accomplish this anymore.
jmmurphy32 has already explained how to do it - but let's see if this helps you:
1. Tap the Applications icon on the launcher.
2. Hit the menu button and select "Edit" (or you can select the "gear" icon at the top left)
3. Find the icon of the app you want to bring into the bottom bar
4. Touch and hold the icon to select it, then drag it to the bottom bar
5. Repeat as necessary
The process you are going through isn't correct and wasn't correct prior to GB either.
Thanks for both of your replies. I finally got it by following your instructions exactly.
When I read the first reply the word launcher threw me. I thought the poster thought I was using one of those launcher program from the app store.