Suppose $p(x)$ is not the zero polynomial and is reducible, then there exists some non-constant polynomial such that $q(x)\mid p(x)\implies (p(x))\subsetneq (q(x))\ne R[x]$, so $(p(x))$ is not maximal. This proves the forward direction.
For the other direction, suppose $p(x)\subsetneq J$, some proper ideal of $R[x]$, and that $p(x)$ is irreducible. Then we must have $(p(x),q(x))\subset J$ whence $q(x)$ is coprime to $p(x)$. By Bézout's identity, $\exists a(x),b(x)\in R[x]$ such that $a(x)p(x)+b(x)q(x)=1\in J$, but then $J=R[x]$, a contradiction. So $p(x)$ is reducible in fact, which proves the statement.