No, you do not need a sport fishing license to catch lobsters from a public pier (Fish & Game Code Section 7153). Please be mindful, however, that the regulation is very specific about what constitutes a public pier (CCR T14, Section 1.88). Furthermore, you will still need a Spiny Lobster Report Card and you must comply with all the requirements of the report card (CCR T14, Section 29.91).