In a mirror light is highly likely to reflect only in one angle according to the "law of reflection" ( I have no idea of why that is though ). On a paper it is likely to also reflect in all other directions. Therefore, on the paper, the image of the pencil is drowned out from the light hitting it from all other points in the environment. The light from each point on the pen will hit each point on the paper, and thus contribute to diffuse the image of itself.
With a lens, you will only be able to see the image of the pen on the paper, if the only light that hits the paper is coming through the lens, or at least other light is sufficiently dim. Also the lens must be at the correct distance so it will focus all light coming from one point on the pen to one point on the paper. The reason you see a picture in that case, is because for each point on the paper, there is only one point on the pen (or whatever else is out there) as seen from the point of the lens, that will hit each point on the paper. This means that all light reflected from that point on the paper is coming only from one point on the pen.
A torch will send directed light, thus light from one point on the torch only hits one part of the paper. Since the light is a lot brighter than the light coming from the environment, the light that hits your eye, will come from only the one point on the torch, thus recreating the round circle of the torch.
Here are som drawings to illustrate. Blue are the rays that hits the eye, while red misses the eye.
Pen to paper: (light from one point is illuminating all parts of the paper)
Pen to mirror: (light from one point is reflected in only one direction for each incidence angle)
Pen through lens: (the lens bends the incoming light so that for a given distance ratio between the pen and paper, each point illuminates only one point on the paper)
Torch: (directional light illuminates only one point on the paper for each point on the torch)
