Each of those drivers will drive two mosfets, but the output on the schematic can be misleading because it looks like two outputs for connecting each side of a load when they should be tied together. The top mosfet is responsible for passing the input voltage out, and the bottom one is responsible for passing the voltage coming in from the right, down to ground. You need two sets of the above circuit (which is a half bridge), one for each side of the load to create a full h-bridge.