What you don't see is that Bear Grylls travels with 5 support vehicles and a helicopter and spends his nights in a hotel. I'd be very surprised if he was actually drinking piss on camera, his whole schtick is fake.
Your comment is wrong and false. He doesn't spend every night in a hotel, the shoots are between 5 to 7 days. Some he stays outside all night, the other supporting shots he stays in a hotel.
He risks his life in significant (and foolish) ways every episode. Climbing and swinging on rope vines over 1,000 foot drops are not faked. Hunting by hand, cleaning and cooking animals, or eating them raw is not faked. Sure he has assistance and safety precautions but that's reasonable.
I'd recommend you check out a series called Survivorman: http://en.wikipedia.org/wiki/Survivorman
It's a guy who goes out into the wilderness to survive with nothing but some basic gear and a couple of cameras and tripods. Less flashy but way more realistic.
Though they're not with him, Les stroud also has a support crew and a way to contact them in case of life-threatening emergency.
There was one particular episode where he had to find some natives to get him out because he was dying of dehydration. He got sick and had diaharrea and no one was there to help him.