Sadly, the PS3 doesn't have this feature.
I play a lot of matches with friends and find this pretty annoying. Every time someone joins you can either quit and re-make the match, wait for him to leave (but this can take a while lol), or send him/her a friendly msg saying it's a private match (most will understand and leave).
The Xbox users can do this because they have player matches (don't think they can do it in ranked matches), PS3 only has ranked matches.
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