I have solution that can guarantee the end goal being reached in a maximum of four five steps. (Many thanks for @dmg and @Taemyr for their comments to fix this solution.) The trick is to:
Reduce the cups into the following configuration:
$\begin{bmatrix} \circ & \bullet \\ \bullet & \circ \end{bmatrix} $
where turning any two cups along the diagonal will satisfy the end goal
For a constructive proof, we first consider the following two three CASES:
CASE 1) the orientation of a single cup is different from the others, e.g. $\begin{bmatrix} \circ & \bullet \\ \circ & \circ \end{bmatrix} $ or $\begin{bmatrix} \bullet & \circ \\ \bullet & \bullet \end{bmatrix} $
CASE 2a) two cups are in each orientation along the diagonal, e.g. $\begin{bmatrix} \circ & \bullet \\ \bullet & \circ \end{bmatrix} $
CASE 2b) two cups are in each orientation along two sides, e.g. $\begin{bmatrix} \circ & \bullet \\ \circ & \bullet \end{bmatrix} $
Step 1
Take two cups along the diagonal.
- If they are different, flip $\circ$ to $\bullet$. If this doesn't sound the bell, we either have $\begin{bmatrix} \circ & \bullet \\ \bullet & \circ \end{bmatrix}$ or $\begin{bmatrix} \circ & \bullet \\ \circ & \circ \end{bmatrix}$, with the majority orientation being $\circ$. In either case, proceed to step 2.
- If they are the same, flip both. If this doesn't sound the bell, we either have $\begin{bmatrix} \bullet & \circ \\ \bullet & \bullet \end{bmatrix}$ or $\begin{bmatrix} \circ & \bullet \\ \circ & \circ \end{bmatrix}$. Either way, the majority orientation is known, and we can proceed to step 3.
Step 2
Take two cups along the diagonal.
- If they are different, we now know we have $\begin{bmatrix} \circ & \bullet \\ \circ & \circ \end{bmatrix}$. Flip $\bullet$ to $\circ$ to win.
- If they are the same, flip both. If this doesn't sound the bell, we now know we have $\begin{bmatrix} \circ & \bullet \\ \circ & \circ \end{bmatrix}$. Proceed to Step 3.
Step 3
At this point, we have already figured out what the majority orientation is, so we assume we have $\begin{bmatrix} \circ & \bullet \\ \circ & \circ \end{bmatrix} $ WLOG. Then:
Take two cups along the diagonal.
- If the cups are different, flip $\bullet$ to $\circ$ to win.
- If the cups are both $\circ$, flip one of them. We now know we have $\begin{bmatrix} \circ & \bullet \\ \circ & \bullet \end{bmatrix}$.
Step 4
Take two adjacent cups along an edge and flip both.
- If the cups chosen are the same, we win.
- If they are different, we now know we have $\begin{bmatrix} \circ & \bullet \\ \bullet & \circ \end{bmatrix} $
Step 5
Take two cups along a diagonal and flip both. We win!