It's not easy to do this within annotate_figure. However, a neat alternative is to create two little text-only ggplots:
ann1 <- ggplot() +
geom_text(aes(x=0, y=0, label = "bold(b[1])"),
parse = TRUE, size = 6, hjust = -1) +
theme_void()
ann2 <- ggplot() +
geom_text(aes(x=0, y=0, label = "bold(b[2])"),
parse = TRUE, size = 6, hjust = -1) +
theme_void()
Now just add these to the bottom of your grid, ensuring their height is reduced relative to the actual plots:
ggarrange(p, r, g ,s, k ,t, ann1, ann2,
labels = c("A", "D", "B", "F", "C", "G", "", ""),
ncol = 2, nrow = 4, heights = c(0.3, 0.3, 0.3, 0.1))

Data used
library(ggpubr)
p <- r <- g <- s <- k <- t <- ggplot(data.frame(x = rnorm(2000)), aes(x)) +
geom_histogram(bins = 10, fill = "#76b8a9", color = "gray95") +
geom_vline(xintercept = 0, color = "blue2", size = 1, linetype = 2)