You can only return 1 element, in your case you have 2 options, you can wrap all your elements in a single <div> like this:
render() {
  return (
    <div>
      <h1>Post list</h1>,
      {this.state.posts_data.map(p =>
        <div key={p.id}>
          {p.title} , {p.id} , {p.userId}
        </div>
      }
    </div>
  );
}
or you can use <React.Fragment />.
render() {
  return (
    <React.Fragment>
      <h1>Post list</h1>,
      {this.state.posts_data.map(p =>
        <div key={p.id}>
          {p.title} , {p.id} , {p.userId}
        </div>
      }
    </React.Fragment>
  );
}
Note: In React we use JSX, so if you want to use Javascript with your HTML you have to wrap it in { }, which is why I've wrapped your this.state.posts_data.map() in those brackets.
Make sure that this.state.posts_data is an Array or else this will throw an error.