Did Asimov ever explain why the Second Law and the Third Law are in that order?

What I mean is, wouldn't it make more sense to have the self-preservation law as number 2? What if someone said, "go throw yourself into that pit of lava" just because they thought it would be funny? Wouldn't it be better if a robot could deny that order? Or what if my neighbor hates me and tells my robot to disassemble itself when I'm not home? The robot couldn't deny the order.

The only thing I could think of is if there were a situation where doing something is inherently dangerous but it must be done, like if humans wanted to build a colony on Venus or IO and have the robots go down there to get the process started. But even that seems really farfetched and not worth having the Second Law before the third law.