This documentation is out of date. Currently you can get notifications without polling the database if you are not using a SSL connection. You still must poll the driver, using PGConnection.getNotifications, but it will return new notifications received without an intermediate database query. This doesn't work over SSL and potentially some other connection types because it uses InputStream.available that not all implementations support.
I know it works without SSL, but we need SSL for this.
If it would be possible to fix it, my company is as I said willing to pay for the cost of such a patch.