PostgreSQL is broken down into several packages, and having psql
installed doesn't imply that the development packages are also installed.
According to the error message:
Please install the PostgreSQL server development packages and re-run configure
you need:
# apt-get install postgresql-server-dev-9.1
Also note there's a APT pgdg repository providing recent pre-compiled versions of postgres-related packages (including postgis) that you may use instead of self-compiling.
If your system is set up to use this repository, just do:
# apt-get install postgresql-9.1-postgis-2.0