The plastic bag will not burst when poking a pencil in it is due to the stress at the hole did not reach the “yield stress”. An inflated plastic bag with water did not have a high internal pressure that would cause the edge of the hole continue to failure and become the catastrophic failure (fast fracture) stage.
But when you poking into an inflated balloon are totally different, since the high internal pressure cause the edge of the hole experience a fast fracture. The balloon will burst immediately. However, if you stick some adhesive paper on the balloon before poking with a needle, the balloon will not burst.
You can try it yourself with a balloon.
For details, please refer to material science book or search on the web for the topic of “fracture mechanic”.