It remains the intention that libpsx be an optional linkage to help an application observe a process wide common security context. However, for backward compatibility this is not required. Unfortunately, the fact libcap/cap_proc.c includes a reference to the psx header file, some build environments automatically force this library to be linked. I think the resolution is to locally introduce the prototype for the affected function in cap_proc.c and not rely on the libpsx header.
https://git.kernel.org/pub/scm/libs/libcap/libcap.git/commit/?id=c221e5815bfe521ee43e2d5698b4ba6485a085d3