$\mathrm{p}K_\mathrm{a}$ is an indicator of acidity constant and it is defined as the negative decimal logarithm of the constant itself: $\mathrm{p}K_\mathrm{a} = -\lg K_\mathrm{a}.$ So, (non-formal) the higher is the dissociation, the lower is $\mathrm{p}K_\mathrm{a}.$
Terminal alkynes have general formula $\ce{R-C#CH},$ where $\ce{R}$ is a radical. The hydrogen atom which is attached to sp-hydridised carbon atom can easily dissociate from it: $\ce{R-C#C- + H+}.$ The resulting carbanion is stable enough to favour the dissociation, therefore the lower is the $\mathrm{p}K_\mathrm{a}.$ On the contrary, in non-terminal alkynes dissociation is not favourable due to non-stable resulting carbanion.
As a result, the $\mathrm{p}K_\mathrm{a}$ of terminal alkynes is lower in comparison with that of non-terminal alkynes.