Step 1: Concept
A plane touches a sphere if the perpendicular distance from the center of the sphere to the plane is equal to the radius of the sphere.
Step 2: Meaning
The sphere $x^2 + y^2 + z^2 = a^2$ has its center at $(0,0,0)$ and radius $a$.
Step 3: Analysis
The perpendicular distance from $(0,0,0)$ to the plane $lx + my + nz - p = 0$ is $\frac{|l(0) + m(0) + n(0) - p|}{\sqrt{l^2 + m^2 + n^2}} = \frac{|-p|}{\sqrt{l^2 + m^2 + n^2}}$.
Step 4: Conclusion
Setting this equal to radius $a$: $\frac{p}{\sqrt{l^2 + m^2 + n^2}} = a \Rightarrow p = a\sqrt{l^2 + m^2 + n^2}$. Squaring both sides gives $p^{2} = a^{2}(l^{2} + m^{2} + n^{2})$.
Final Answer: (B)