You just need to practice until it becomes 2nd nature.
When you get really good, you'll be able to downshift without the clutch. And in some cases, you may feel like popping it out of 4th without the clutch, putting the gas pedal to the floor,and popping it into 2nd gear to accelerate without even lifting the throttle....
I spent years mastering that technique on old BMWs. Rev matching is a must for me on any downshift, city or track.