As described in the Apple Worldwide Developer Relations Intermediate Certificate Expiration:
The previous Apple Worldwide Developer Relations Certification Intermediate Certificate expired on February 14, 2016 and the renewed certificate must now be used when signing Apple Wallet Passes, push packages for Safari Push Notifications, Safari Extensions, and submissions to the App Store, Mac App Store, and App Store for Apple TV.
All developers should download and install the renewed certificate on their development systems and servers. All apps will remain available on the App Store for iOS, Mac, and Apple TV.
The new valid certificate will look like the following:
It will display (this certificate is valid) with a green mark.
So, go to your Key Chain Access. Just delete the old certificate and replace it with the new one (renewed certificate) as Apple described in the document. Mainly the problem is only with the Apple push notification service and extensions as described in the Apple document.
You can also check the listing of certificates in https://www.apple.com/certificateauthority/
Certificate Revocation List:
Now this updated certificate will expire on 2023-02-08.
If you could not see the old certificate then go to the System Keychains and from edit menu and select the option Show Expired Certificates.
Now you can see the following certificate that you have to delete: