Observer selection means p > 0 (ie the inequality is strict) but it can't tell us any more. Bayesian reasoning from our own solar system can put a reasonable upper limit on p but that isn't very helpful.
However, if we found life on Mars that same Bayesian reasoning would imply a meaningful lower limit on p as well, since life on Mars is independent of our existence to observe it.
If we found life on Mars that was independent of life on Earth it would imply a meaningful lower bound. Even finding a fundamentally different biosystem on Earth (life that didn't use nucleic acids, say) would be informative.
Just finding life on Mars that's the same kind of life as on Earth would not tell us much, as it could be explained by panspermia. There are Mars rocks on Earth, so transfer of life in those rocks should have happened constantly. If early Mars were habitable it almost certainly had life, due to this transfer.
However, if we found life on Mars that same Bayesian reasoning would imply a meaningful lower limit on p as well, since life on Mars is independent of our existence to observe it.