Here is one approach to your problem. As in your OP, define
\begin{align}
p_0(t)\equiv0\qquad p_{n+1}(t)=\tfrac12(t+2p_n(t)-(p_n(t))^2).
\end{align}
An simple algebraic manipulation yields
\begin{align}
2(p_{n+1}(t)-\sqrt{t})&=(2-p_n(t))p_n(t)-(2-\sqrt{t})\sqrt{t}\tag{1}\label{one}\\
2(p_{n+1}(t)-p_n(t))&=t-(p_n(t))^2\tag{2}\label{two}
\end{align}
The function $\varphi(x)=(2-x)x$ is monotone increasing on $[0,1]$ ($\varphi'(x)=2(1-x)>0$ for all $0\leq x<1$). Hence, if $0\leq p_n(t)\leq \sqrt{t}$, then \eqref{one} we would imply $0\leq p_{n+1}(t)\leq\sqrt{t}$. Since $0=p_0(t)\leq\sqrt{t}$, then $0\leq p_1(t)\leq\sqrt{t}$. Continuing by induction, we have that
$$\begin{align}
0\leq p_n(t)\leq\sqrt{t},\qquad 0\leq t\leq 1, \quad n\in\mathbb{Z}_+\tag{3}\label{three}\end{align}$$
From \eqref{three} and \eqref{two} it follows that
$$0\leq p_n(t)\leq p_{n+1}(t)\leq\sqrt{t}$$
This shows that $p_n(t)$ converges for any $t$ as $n\rightarrow\infty$. Again, from \eqref{two} we obtain that $\lim_np_n(t)=\sqrt{t}$. Furthermore, convergence is uniform by Dini's theorem.