Yes Rancho Palos Verdes is covered by The Lomita Sheriff station. The RPV assigned units IDs are 173 & 174. I've also heard Carson Sheriff on occision respond in when things were going on when Lomita was out of units.
For Palos Verdes Estates, yes they have their own PD. A small department but never the less they have a diverse set of units including boat patrol(based at Redondo King Harbor), horse patrols, and units out on ATVs. Seemingly their busiest activity however is pulling over speeders and responding to alarm calls.