They weren't PSAs. They were episode intros specially recorded for when the series was repeated on certain channels. As far as I know, they were only for season two, but I could be wrong.
Anyway, you can see them before the episodes they were intended for on the Season 2 box DVD set.
Actually, intros were made for every single episode for the Bravo Network (U.S.), back when they were still known for four-star movies, and not reruns of "Queer Eye".