You should consult with your psychiatrist on this, but to my knowledge, unless you're severely manic or severely depressed, people with just bipolar disorder don't have psychosis, and even many manic or severely depressed people don't always (if ever) become psychotic. If one has psychosis during milder episodes (or stability), then it is usually from something else, like schizoaffective bipolar type or something else. Only your psychiatrist can determine what is the case.

I guess there can be exceptions, but when I'm full blown manic (with or without psychosis) I'm not usually scratching my head wondering if I'm full blown manic. Such insight is usually not possible at that time for me. If I'm in a severe manic episode with mixed features I might be suffering enough to scream for help. Or if fully manic with euphoria (with or without psychosis) I'm usually riding the high and my thoughts are racing so much that I'm not really that pensive.