The power steering and the brakes are not connected in any way. Put the car in "Park" and turn the steering wheel, you will probably hear the same sounds.
It is much more difficult to turn the wheels when the car is not moving, which means that the power steering pump has to work harder when the car is sitting still. Most cars will groan a little bit when they're sitting still and someone turns the wheel. It's also possible that the power steering belt is getting old and is slipping when there's more load on the pump. I would first check the tension on the PS belt, and if that's OK, I'd try replacing the belt. After that, if there are no other problems I'd probably leave it, but if it really worries you, go and have a mechanic inspect it and tell you if the noise is OK.
ZV