This is actually quite simple.
In the admin tab, click on the security and monitor devices.
search for the name of the device that the cert changed for.
edit the device.
On the bottom, click test connectivity. It will then go out and try to connect to this device. A new screen will pop up asking you to accept the new cert. Click ok on the new cert. It will then bring you back to the edit screen. Click submit. Once that is completed, you must click the activate button. *Note: if you don't activate, the change will not take.