Should I use a loop instead of an If statement?
What you are lacking is the else concept:


If a touch pad is pressed, then


Turn the relay on

else


Turn the relay off



Rather than turn the relay off every iteration, you only turn it off if the touch pad is not pressed.

That can be written as:

val_1 = digitalRead(touchPin1);

if(val_1 ==1)
{
  Serial.println("Pad 1 Touched");
  digitalWrite(relayPin1, HIGH);
} else {
  digitalWrite(relayPin1, LOW);
}


If you want your messages to be more meaningful and not spam, then you can remember the previous state and only do things if the state changes:

static uint8_t oldVal1 = LOW;

uint8_t val1 = digitaRead(touchPin1);

if (val1 != oldVal1) {
    oldVal1 = val1;
    if (val1 == HIGH) {
        Serial.println("Pad 1 Touched");
        digitalWrite(relayPin1, HIGH);
    } else {
        Serial.println("Pad 1 Released");
        digitalWrite(relayPin1, LOW);
    }
}