If the PRV has re-sealed, then there WAS an issue; which is now resolved. Those valves are usually set at 3 bar; but the outflow is normally tied into an overtemperature relief valve (sometimes combined at a TPR valve). The idea is to stop the storage vessel rupturing as a result of excessive pressure build-up; OR over-expansion caused by overheating; itself a symptom of a failed thermostat (usually operate at 88 or 92 degrees, if I remember correctly.)
The fact that the water was steaming would suggest it was an overheat issue - if it re-occurs, a heating engineer visit is recommended.
note: similar to an RCD, these units should be periodically operated (the knurled knob on the top is rotated approx 1/4 turn (they are fitted with recoil springs; so a resistance will be felt) ; water should exit the pipe. release the knob, the valve shuts and you have confirmed mechanical operation of the valve.
One final note. The wax capsule which operates the overtemp. device can become inoperative due to overtemperature, as I recall.
Hope that helps.
KME