A quick google search reveals two courses on the MIT OCW website:
Automata, Computability, and Complexity taught by Scott Aaronson; has Sipser along with two other texts as recommended reading, and comes with lecture notes and assignments
Theory of Computation taught by Sipser himself (!) with the 2nd edition of his textbook as required reading. It comes with assignments, exams, and notes on what readings should be done for each section, but does not have lecture notes uploaded.
If neither of these suit, there is a whole category on the MIT OCW website that has computational theory course materials.
If you want video lectures, there is this series on YouTube taught by a UC Davis professor based upon Sipser's textbook (the series is 26 lectures, each about 1hr15 in length).
Most of these are based on Sipser, not Hopcroft et al., but Sipser is another classic text recommended in the question you link, so I figure these will likely work for you. Good luck!