The simplest would be to use a On Delay time delay relay, such as this:
http://www.ssac.com/catalog/TDM01A01.pdf
This could be wired directly to the existing motor contactor in the control box.
Once the contactor is pulled in due to a call for pressure, the ON time delay sequence will be activated, and if allowed to time out, it will open a set of internal contacts, which then will remain open until a reset button is pushed to restore power to the contactor.
Since all you can do is rely on time, the time setting must be long enough to allow pressure to build, and not activate the timing sequence.
A PLC I believe is not practical for a homeowner, due to initial cost, and learning how to program, etc.
Any single phase submersible pump already has built in thermal protection, so that is covered. Any motor should have either an inverse time circuit breaker or time delay fuses for overcurrent and short circuit protection.
I will not recommend that you consider even my suggestion of a TDR.
I must recommend that the freeze condition be eliminated best as possible, for many obvious reasons. Allowing a sub-pump to run dry or with a blocked discharge will eventually damage the pump motor and seals.
What you are considering is a band-aid and will give you a false sense of security. All that will happen is to put off the inevitable, damage the pump.