I have also read that 15psi is necessary for sterilization, but go ahead and give it a shot. Even if you lose a few to contam, you should still have a few that come out ok. I have found boiling the jars to be very ineffective. Others have had very good success with boiling. Other factors such as your environment and technique will also play a factor. Adaption 23 in the Magic Mushroom Growers Guide (available in the grow find section) talks about sterilizing substrate ingredients separately before you sterilize with a pressure cooker, thus lowering your chances of contamination. I haven't done this but it def won't hurt.
Also, don't keep changing the heat settings while sterilizing with a pressure cooker. This can cause the pressure inside the cooker to change, pushing out water inside the jars. And like shaker said, don't get frustrated. I've had plenty of contam problems so far. I think this is the hardest thing to get a handle of when you first start growing. Good luck