An answer to a very old question ... You asked for Seifert and Threlfall's "Lehrbuch der Topologie". You can find it here and the English translation here.
Seifert and Threlfall primarily do not consider abstract simplicial complexes (given by the sets of vertices and simplices), but geometric simplicial complexes which are toplogical spaces with a simplicial decomposition into topological images of rectilinear simplexes. In modern terminology one would call this a triangulation of a polyhedron.
However, they introduce the "schema of a simplicial complex" which can be regarded as an abstract simplicial complex.
They also introduce simplicial maps and prove that each
continuous map between simplicial complexes is homotopic to a simplicial map, provided that the simplicial decomposition of the domain is sufficiently fine. However, they do not define the concept of contiguous simplicial maps.
In the English translation the word "contiguous" occurs on p. 282 (contiguous $n$-cells; cells and cell complexes are introduced in Section 67). It translates the German "angrenzend" (see p. 271 of the German text).
This suggests that the German root of the English "contiguous" is "angrenzend".
In the context of your question this makes perfect sense: The images of any simplex in the domain under the maps $f, g$ are required to be faces of a simplex in the codomain and are angrenzend in that sense.
Anyway, I do not think that that using "benachbart" would be a bad choice in German. I do not know any German textbook dealing with contiguous maps (though my knowledge is limited), and this indicates that you would not violate any standard German terminology.