I only started seeing this on 2.0.0-p247. Check out this output:
>find ~/.rvm/gems -name "pg_ext*"
/Users/jshort/.rvm/gems/ruby-1.9.3-p194/gems/pg-0.14.1/ext/pg_ext.bundle
/Users/jshort/.rvm/gems/ruby-1.9.3-p194/gems/pg-0.14.1/lib/pg_ext.bundle
/Users/jshort/.rvm/gems/ruby-1.9.3-p194/gems/pg-0.16.0/ext/pg_ext.bundle
/Users/jshort/.rvm/gems/ruby-1.9.3-p194/gems/pg-0.16.0/lib/pg_ext.bundle
/Users/jshort/.rvm/gems/ruby-2.0.0-p247/gems/pg-0.16.0/ext/pg_ext.bundle
/Users/jshort/.rvm/gems/ruby-2.0.0-p247/gems/pg-0.16.0/lib/Users/jshort/.rvm/rubies/ruby-2.0.0-p247/lib/ruby/site_ruby/2.0.0/x86_64-darwin11.4.2/pg_ext.bundle
I just copied the pg_ext.bundle to the 2.0.0-p247's lib directory like the 1.9.3 versions.
Also note that odd directory at the end like the gem installer put that in the wrong location.