Generally, it's best to never overrule the default in a serial column. If you sometimes need to provide id values manually, replace the standard DEFAULT clause nextval('sequence_name') of the serial column with a custom function that omits existing values.
Based on this dummy table:
CREATE OR REPLACE FUNCTION f_test_test_id_seq(OUT nextfree bigint)
  LANGUAGE plpgsql AS
$func$
BEGIN
   LOOP
      SELECT INTO nextfree  val
      FROM   nextval('test_test_id_seq'::regclass) val  -- use actual name of sequence
      WHERE  NOT EXISTS (SELECT FROM test WHERE test_id = val);
      EXIT WHEN FOUND;
   END LOOP; 
END
$func$;
Use it in column default:
ALTER TABLE test ALTER COLUMN test_id SET DEFAULT f_test_test_id_seq();
It's not strictly a serial any more, but serial is only a convenience feature anyway:
And if you build this on top of a serial column the SEQUENCE is automatically "owned" by the table column, which is probably a good thing.
This is a slightly faster variant of:
And it's equally safe against conflicts under concurrent write load.
Table and sequence name are hard coded here. You could easily parametrize the sequence name (like in the linked answer) and even the table name - and test existence with a dynamic statement using EXECUTE. Would give you a generic function, but the call would be a bit more expensive.
CREATE OR REPLACE FUNCTION f_nextfree(_tbl regclass
                                     , _col text
                                     , _seq regclass
                                     , OUT nextfree bigint)
  LANGUAGE plpgsql AS
$func$
BEGIN
   LOOP
      EXECUTE '
      SELECT val FROM nextval($1) val WHERE NOT EXISTS (
         SELECT FROM ' || _tbl || ' WHERE ' || quote_ident(_col) || ' = val)'
      INTO  nextfree
      USING _seq;
      EXIT WHEN nextfree IS NOT NULL;
   END LOOP; 
END
$func$;
Use it in column default:
ALTER TABLE test2 ALTER COLUMN test2_id
SET DEFAULT f_nextfree('test2', 'test2_id', 'test2_test2_id_seq');
fiddle
Old sqlfiddle