You're asking specifically about the binding property ("can Bob cheat Alice?"). It's helpful to recall how binding is proven in Naor's scheme.
Suppose an adversary generates some commitment $c$. If they can open the commitment to 0 then there must exist $s_0$ such that $G(s_0) = c$. If they can open the commitment to 1 then there must exist $s_1$ such that $G(s_1) \oplus r = c$. Therefore, if they can open $c$ to both values then there must exist $s_0, s_1$ such that $G(s_0) \oplus G(s_1) = r$. If an adversary can equivocate, then it reflects something funny about $r$ more than it reflects something funny about $c$.
If a value of $r$ has the property above, let's call it "problematic."
There are $2^{2\lambda}$ pairs $(s_0,s_1)$, and so at most $2^{2\lambda}$ problematic values of $r$. If $G$ is length-tripling then there are $2^{3\lambda}$ possible values of $r$ that Alice could choose. So when Alice chooses $r$ uniformly, she gets a problematic one with negligible probability $1/2^\lambda$. And as long as she avoids a problematic $r$, the commitment will be perfectly binding.
Now you propose to fix a specific $r$, for example as $r=0\cdots01$. The question is whether this $r$ can be problematic. Can there exist $s_0, s_1$ such that $G(s_0) \oplus G(s_1) = 0\cdots 01$? Sure! Just take your favorite PRG, and your two favorite strings $s_0$ and $s_1$, and redefine the PRG's output on $s_0$ and $s_1$ to have the property above. The modified function is still a PRG, but your modified Naor's scheme is insecure with this PRG (the adversary can depend on $s_0$ and $s_1$ because the adversary can depend on the choice of PRG of course).
So no, Naor's scheme is not secure in general when $r$ is fixed. For any $r$ that you'd like to fix, I can build a secure PRG that causes this modified Naor's scheme to be insecure. For extra credit, construct a secure PRG $G$ such that, for every possible output $G(s)$, the value $G(s)\oplus 0\cdots01$ is also a possible output of $G$.