Without further assumptions, the claim is simply false. As an example, consider the group $G={\mathbb Q}$ equipped with discrete topology, $X=G$ equipped with the standard order topology. Assume that the action $G\times X\to X$ is the one given by the left multiplication. I will leave it to you to verify that the action is continuous. Take $x_0=0$. The corresponding orbit map $p: G\to X$ maps $G$ onto $X$. Thus, we found an open subset of $G$ (i.e. $G$ itself) whose image under $p$ is open. However, the map $p$ clearly is not open (just take the image of any singleton under the orbit map). So, what Tsemo proved for you is false: His mistake was to assume that every neighborhood of $e$ has open image under $p$.
However, the statement you are trying to prove holds under the following mild extra assumptions which hold in most natural applications of the fiber bundle theory:
Assume that your group $G$ (I do not like using the letter $B$ for groups)
is locally compact and 2nd countable. (For instance, every Lie group is.)
Assume that $X$ is completely metrizable (i.e. admits a complete metric metrizing its topology). - Note that ${\mathbb Q}$ (with the order topology) in my example is not completely metrizable.
Then indeed the orbit map is open provided that one of the two equivalent conditions holds:
a. There exists an (open, as customary in the US literature on general topology) neighborhood $U$ of $e$ such that $p(U)$ is open in $X$.
b. $p(G)$ is an open subset of $X$.
A proof of openness of $p$ under these extra assumptions is an application of the Baire Category theorem (arguing as in the proof of Arens Lemma in the theory of transformation groups, see here).