Surface gravity is a function of two things:
1. How much mass is contained within the object.
2. How far the surface is from the center.
If you know these, the surface gravity is simply ##Gm/r^2## (feel free to calculate this for the Earth, and you'll get roughly ##9.8m/s^2##). So if you have a small mass, you can still have a high surface gravity if the planet is very dense, so that it has a small radius.
But I don't think the numbers work out here: the asteroid belt is tiny, at only about 0.05% the mass of the Earth today. It would need to be something like 4,000 times as dense as the Earth to have a four times the surface gravity. That's just not happening.
More realistically, what they might have meant is that if Jupiter had not formed first, then what is today the asteroid belt might have formed into a rocky planet significantly larger than the Earth, with quite a bit more gravity. But Jupiter did form further out, which disrupted the orbits of most of the dust and rocks that would have made up that planet, so that their orbits destabilized and they ended up striking other planets.