You need to use loadDrawable or loadDrawableAsync on the icon it will return a drawable.
loadDrawable added in API level 23 public Drawable loadDrawable
(Context context) Returns a Drawable that can be used to draw the
image inside this Icon, constructing it if necessary. Depending on the
type of image, this may not be something you want to do on the UI
thread, so consider using loadDrawableAsync instead.
as shown below
Icon icon = notification.getSmallIcon();
Bitmap bitmap = icon.loadDrawable(context);
then you can convert the drawable to bitmap from the stackoverflow link below
there are many answers how to convert drawable to Bitmap
How to convert a Drawable to a Bitmap?