The relationship between automatically generated sequences ( such as those created for SERIAL columns ) and the parent table is modelled by the sequence owner attribute. 
You can modify this relationship using the OWNED BY clause of the ALTER SEQUENCE commmand
e.g. 
     ALTER SEQUENCE foo_id OWNED by foo_schema.foo_table 
to set it to be linked to the table foo_table
or
     ALTER SEQUENCE foo_id OWNED by NONE
to break the connection between the sequence and any table
The information about this relationship is stored in the pg_depend catalogue table. 
the joining relationship is the link between pg_depend.objid -> pg_class.oid WHERE relkind = 'S'  - which links the sequence to the join record and then pg_depend.refobjid -> pg_class.oid WHERE relkind = 'r' , which links the join record to the owning relation ( table )
This query returns all the sequence -> table dependencies in a database. The where clause filters it to only include auto generated relationships, which restricts it to only display sequences created by SERIAL typed columns.
WITH fq_objects AS (SELECT c.oid,n.nspname || '.' ||c.relname AS fqname , 
                           c.relkind, c.relname AS relation 
                    FROM pg_class c JOIN pg_namespace n ON n.oid = c.relnamespace ),
     sequences AS (SELECT oid,fqname FROM fq_objects WHERE relkind = 'S'),  
     tables    AS (SELECT oid, fqname FROM fq_objects WHERE relkind = 'r' )  
SELECT
       s.fqname AS sequence, 
       '->' as depends, 
       t.fqname AS table 
FROM 
     pg_depend d JOIN sequences s ON s.oid = d.objid  
                 JOIN tables t ON t.oid = d.refobjid  
WHERE 
     d.deptype = 'a' ;