Commensalism is a relationship between two organisms in which only one of them has benefit, and the other one is not affected. Bacteria are carried by ticks, so bacteria have a benefit from the relationship. Tick is not affected by bacteria, it does not get Lyme disease. Therefore, the relationship between ticks and bacteria is commensalism.
The relationship between ticks and humans is parasitism. Parasitism is non-mutual relationship between two organisms in which one of them (tick) benefits at the expense of the host organism (human).