Actually no, I changed its file attributes to 644, but it still popped up the 
same message as a normal user.
Looks like for hp-toolbox, hp-info and /usr/lib/cups/backend/hp I require root 
priviledges:

$ sudo /usr/lib/cups/backend/hp
direct hp:/usb/HP_LaserJet_P1006?serial=AC094VM "HP LaserJet P1006" "HP 
LaserJet P1006 USB AC094VM HPLIP" "MFG:HP;MDL:HP LaserJet 
P1006;CLS:PRINTER;DES:HP LaserJet P1006;SN:AC094VM;"

-- 
[Hardy]HP printer is not detected properly by HPLIP
https://bugs.launchpad.net/bugs/181242
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