Write $p^2 + q^2 + r^2 + s^2 = X$. Then, $$2X + 2(pq+qr+rs+sp) = (p+q)^2 + (q+r)^2 + (r+s)^2 + (s+p)^2 = 2X + 4$$.
Write $a = p+q, b = q+r, c= r+s, d = s+p$, then by AM-GM on $a^2,b^2,c^2,d^2$ we see that $a^2+b^2+c^2+d^2 \geq 4 \sqrt[4]{(abcd)^2} = 16$.
Therefore, $2X+4 \geq 16$, and $X \geq 6$.
Equality is attained, precisely when all terms in the AM-GM are equal i.e. $p=r,q=s$, in which case $p+q = 2$ and $pq = \frac 12$. Solve to get $p,q = 1 \pm \frac 1{\sqrt 2}$, at which indeed $X= 6$ is obtained. Hence, the minimum value is $X = 6$.