In short: it IS true in two three cases:
- for polynomial of degree 2
- for polynomial of degree 4 in two variables
- for polynomial in one variable.
The answer is here:
Hilbert, D. Ueber die Darstellung deniter Formen als Summe von Formenquadraten. Mathem. Annalen Bd 32, S. 342-350 (1888)

