A typical Video stream (1 IP address and 1 port) can have +/- 7 PIDs (some less, some more) i.e 1 x video, 2 x audio, 1 x epg, 1 x teletext, 2 x subtitles (CC). I want to know if there is anyway I can block/filter some PIDs that I can identify, to only pass A & V PIDs and remove all other unnecessary PIDs.

even if they are encapsulated in UDP packets, there can be many PIDs in one packet. you need some MPEG-TS software that will rebuild the stream for you, removing unnecessary PIDs

We use live streams and cannot rebuild such - are there any other ways?

no. either you drop packets which contain forbidden PIDs - and drop also some frames of video & audio, or you allow all packets with A/V PIDs - those are almost all packets, and many forbidden PIDs will arrive to user