To view the page context, use a change-event handler in the Utility Bar component. If a user navigates to a different page, the recordId of the view is captured. The following code snippet shows a simple demonstration:

<aura:component implements="force:hasRecordId,flexipage:availableForAllPageTypes"
access="global">
    <aura:handler name="change" value="{!v.recordId}" action="{!c.onRecordIdChange}"/>
    <div>
            <p>The current recordId is {!v.recordId}.</p> 
    </div>
</aura:component>

The controller code for the preceding component is as follows:

({
    onRecordIdChange : function(component, event, helper) {
        var newRecordId = component.get("v.recordId");
        console.log(newRecordId);
    }
})