If you set log_statement = all
then parameters will be recorded in the logs on a separate line. You may find setting a log_line_prefix
that includes the session pid useful for making sure you can associate the statement text with the parameters.
There is no feature to substitute the parameters into the query text in-line. This is quite consciously avoided as substituting query params in makes it much harder for log analysis tools to collect stats about multiple runs of the same statement with different parameters.
It'd be nice if there was a convenient way to do both, or to say "I want to see statements with params subbed in" .... but there isn't.