Real-world Basis
Check out the real-world example of the Portuguese man o' war. While most people think it's a jellyfish, it's actually what's called a siphonophore; it's a colony of a bunch of specialized creatures (called zooids) that each have their own responsibilities. It's like a very tight-knit symbiotic relationship that cannot be broken (or else the zooids die).
Your Creature
I think you could use this as a basis to create a new organism in one of two ways:
- Each limb is a zooid, or
- Each limb is a colony of zooids, and the whole organism is actually the sum interaction of multiple zooids.
Personally, I think (2) makes more sense, since each limb would likely need to consist of multiple parts to be useful (finger zooid, biceps zooid, etc). However, at least one commenter finds (1) more logical of a choice. This part is up to you, OP!
In general, this type of animal would not be "intelligent"; I don't think a single brain exists, but rather the zooids naturally cooperate with each other. (This is how it works with the man o' war, I believe.)
For you, though, I think we can make it work. Perhaps your humanoid's head can communicate with the limbs and torso through electromagnetic signals, which could be detected and interpreted in much the same way some animals have magnetoreception. (This would almost be like a short-range telepathy, but only to one's own body parts.)
I can't help you much with the hovering. You either have to explain some connection between the limbs, or else your readers will wonder why your telekinetic creature doesn't use its powers for inanimate objects.
Benefits
The benefits of such a creature could be many! I don't have a ton of ideas off the top of my head, but it could probably reach further than an attached-limb creature, and maybe fit into smaller spaces by bringing its limbs in closer than a regular humanoid could. And it would never have to get up from the couch to get the remote!
Disadvantages
As for disadvantages, perhaps your creature suffers if the limbs become too far detached? Or the limb could die if separated too far from the head or torso or something. And I'm not sure how a floating arm would be able to exert much power without the leverage of a body behind it, without some really incredible mechanism you choose to use to float it... (Maybe somakinesis? I made that up, but soma is the Latin root for "body", so it'd be like "body-kinesis".)
Additionally, such a creature would need to consume a lot of energy to keep those limbs floating. Our limbs just sort of rest, but if this creature were to rest then it's limbs would fall to the ground!