import psycopg2
from shapely.geometry import LineString
from shapely import wkb

conn = psycopg2.connect('...')
curs = conn.cursor()

# Make a Shapely geometry
ls = LineString([(2.2, 4.4, 10.2), (3.3, 5.5, 8.4)])
ls.wkt  # LINESTRING Z (2.2 4.4 10.2, 3.3 5.5 8.4)
ls.wkb_hex  # 0102000080020000009A999999999901409A999999999911406666666666662440666666...

# Send it to PostGIS
curs.execute('CREATE TEMP TABLE my_lines(geom geometry, name text)')
curs.execute(
    'INSERT INTO my_lines(geom, name)'
    'VALUES (ST_SetSRID(%(geom)s::geometry, %(srid)s), %(name)s)',
    {'geom': ls.wkb_hex, 'srid': 4326, 'name': 'First Line'})

conn.commit()  # save data

# Fetch the data from PostGIS, reading hex-encoded WKB into a Shapely geometry
curs.execute('SELECT name, geom FROM my_lines')
for name, geom_wkb in curs:
    geom = wkb.loads(geom_wkb, hex=True)
    print('{0}: {1}'.format(name, geom.wkt))
# First Line: LINESTRING Z (2.2 4.4 10.2, 3.3 5.5 8.4)

>>> import psycopg2
>>> conn = psycopg2.connect(dbname=..., port=..., user=...,
                            password=..., host=...)
>>> cur = conn.cursor()
>>> x, y, z, = 32, 34, 0
>>> cur.execute("SELECT ST_SetSRID(ST_MakePoint(%s, %s, %s),4326);", (x, y, z))
>>> cur.fetchall()
[('01010000A0E6100000000000000000404000000000000041400000000000000000',)]

>>> cur.execute("SELECT ST_AsText(ST_SetSRID(ST_MakePoint(%s, %s, %s),4326));", (x, y, z))
>>> cur.fetchall()
[('POINT Z (32 34 0)',)]