In this paper, we have demonstrated the existence of surface acoustic waves in two-dimensional phononic crystals with fluid matrix, which is composed of a square array of steel cylinders put in air background. By using the supercell method, we investigate the dispersion relation and the eigenfield distribution of surface modes. Surface waves can be easily excited at the surface of a finite size phononic crystal by line source or Gaussian beam placed in or launched from the background medium, and they propagate along the surface with the form of 'beat.' Taking advantage of these surface modes, we can obtain a highly directional emission wave beam by introducing an appropriate corrugation layer on the surface of a waveguide exit.