If I am using any of the TLS_PSK_* cipher suites, then all I need to use some pre-shared key among client and server for encrypting and decrypting the message.
Would it matter whether I am sending the encrypted message over normal Socket or SSLSocket? How?
Although it is not impossible to create a secure connection yourself (which I presume you are hinting at) there are so many pitfalls that the answer is usually "yes". Use TLS if it is available, the newer the protocol & ciphersuite the better...