There are many ways to approach this problem.
The point of the following is to take you through a process of analyzing the question, performing the requisite calculations as simply and easily as possible, developing a strategy to carry out the proof, and applying that strategy. A section of concluding remarks highlights what has been achieved by this method.
Analysis
Recall that a random variable $X$ assigns a number to each element $\omega$ of a sample space $\Omega.$
The expression $Y=\psi(X-\theta)$ is another way to assign numbers to elements of $\Omega;$ namely, for each $\omega,$ compute $\psi(X(\omega)-\theta).$
Notice that the resulting number is one of at most three values: $-p, 0,$ and $1-p.$ As you will see, we will be able to compute the probabilities of any subset of these values.
This makes $Y$ a random variable, too: and it's a discrete one. This simplifies the calculations we might need to do.
At this point it is evident we need to accomplish two things: (1) we need to compute an expectation and (2) we will need to manipulate inequalities algebraically. Let's take these in turn.
Preliminary calculations
The expectation of $Y$ can be found from the very definition: multiply its values by its probabilities. Let's tabulate them:
For $X \lt \theta,$ $Y=\psi(X-\theta) = 1-p.$ This has probability $\Pr(X\lt \theta).$
For $X=\theta,$ $Y=\psi(0) = 0.$ This has probability $\Pr(X=\theta).$
For $X \gt \theta,$ $Y = -p.$ This has probability $\Pr(X \gt \theta).$
The expectation of $Y$ is the sum of its values times their probabilities:
$$\mathbb{E}(\psi(X-\theta)) = \mathbb{E}[Y] = (1-p)\Pr(X\lt\theta) + 0\Pr(X=\theta) + (-p)\Pr(X \gt \theta).\tag{1}$$
Strategy for the proof
The simplest way to carry out the required demonstration is to show its contrapositive: that is,
if $\Pr(X \lt \theta)\gt p$ or $\Pr(X \le \theta) \lt p,$ we need to conclude that $\mathbb{E}(\psi(X-\theta))$ is not zero.
In the first case where $\Pr(X\lt \theta)\gt p,$ the additivity of mutually exclusive events and the axiom of unit measure--two of the axioms of probability--guarantee that
$$\eqalign{
\Pr(X \gt \theta) &= 1 - (\Pr(X\lt\theta) + \Pr(X=\theta)) \\
&\le 1 - \Pr(X\lt \theta)\\
& \lt 1-p.
}$$
Substituting these two inequalities into $(1)$ gives
$$\eqalign{
\mathbb{E}(\psi(X-\theta)) &= (1-p)\Pr(X\lt\theta) -p\Pr(X \gt \theta) \\
&\gt (1-p)p - p(1-p) = 0,
}$$
proving the expectation cannot be zero. The demonstration in the second case parallels this one, QED.
Comments
Because this proof is completely elementary--it relies only on the definition of expectation and axioms of probability--it reveals how little needs to be assumed and how general the result is:
It is not necessary to assume $0\lt p\lt 1:$ the assertion that was proved is true for all $p.$
This demonstration works even when $p=0$ or $1-p=0$ (whereas other attempts might fail for these values, in case they appear in the denominators of any fractions).
It was not necessary to assume $X$ has a density $f.$
No higher mathematical concepts, such as integration, were needed.
Indeed, we did not even have to use a distribution function for $X$: we worked directly with the relevant probabilities.