\documentclass{standalone}
\usepackage{tikz}
\usetikzlibrary{automata}
\usetikzlibrary{positioning}
\usetikzlibrary{calc}
\begin{document}
\begin{tikzpicture}[shorten >=1pt,,node distance=3cm,on grid,auto, /tikz/initial text={$M$}]
\node[state, initial] (q0) {$q_0$};
\node[state, accepting] (qp1) [below right=of q0] {$q_{p_1}$};
\node[state, accepting] (qp2) [above right=of q0] {$q_{p_2}$};
\node[state] (q1) [above right=of qp1] {$q_1$};
\path[->] (q0) edge node [below left] {$p_1$} (qp1)
(q0) edge node {$p_2$} (qp2)