I'm afraid I don't know the history and theory well enough to state why there is only a perfect fifth, no major or minor (I know the harmonic series, etc, but I don't know why it was decided that fifths would always be perfect).
Perfect intervals, when inverted, are still Perfect. Major and minor intervals when inverted are not (still Major or Minor). That might be part of it.
From Wikipedia:
Perfect[edit]

Perfect intervals on C.
PU (
help·
info),
P4 (
help·
info),
P5 (
help·
info),
P8 (
help·
info).
Perfect intervals are so-called because they were traditionally considered perfectly consonant,
[6]although in Western classical music the perfect fourth was sometimes regarded as a less than perfect consonance, when its function was
contrapuntal.[
vague] Conversely, minor, major, augmented or diminished intervals are typically considered less consonant, and were traditionally classified as mediocre consonances, imperfect consonances, or dissonances.
[6]
Within a
diatonic scale[d] all unisons (
P1) and octaves (
P8) are perfect. Most fourths and fifths are also perfect (
P4 and
P5), with five and seven semitones respectively. One occurrence of a fourth is augmented (
A4) and one fifth is diminished (
d5), both spanning six semitones. For instance, in a C-major scale, the
A4 is between F and B, and the
d5 is between B and F (see table).
By definition, the
inversion of a perfect interval is also perfect. Since the inversion does not change the
pitch class of the two notes, it hardly affects their level of consonance (matching of their
Invalid Link Removed). Conversely, other kinds of intervals have the opposite quality with respect to their inversion. The inversion of a major interval is a minor interval, the inversion of an augmented interval is a diminished interval.