If I understand your question well, your result shows your <hr> in text form.
When you’re using esc_html__( string $text, string $domain = 'default' ), the returned output is escaped, it means :
"is replaced with"&is replaced with&<is replaced with<>is replaced with>
So your <hr> are returning as text, not as html markups.
To fix that, you can simply move your <hr> outside of your esc_html__() :
<?php printf(
'<hr>'.esc_html__( 'Thoughts about '. get_the_title(), 'rainbowcats' ).'<hr>';
); ?>
Furthermore, I don’t understand what you are trying to achieve with '<span>' . get_post_meta($post->ID, 'usp_title',true) . '</span>' as an argument of printf(format,arg), you should have called your arg with %s in your first parameter. But keep in mind to keep it outside esc_html__() !
For more information, see : https://www.w3schools.com/php/func_string_printf.asp