Behavioral programming is built on top of a paradigm called synchronous programming, developed by David Harel (who later invented behavioral programming), Amir Pnueli and later Gérard Berry and others. The mathematical formalism underlying synchronous programming (in the same way that the lambda calculus underlies functional programming) is temporal logic, introduced into computer science by Pnueli (for which he received the Turing Award). TLA+ is based on a logic called TLA, the Temporal Logic of Actions, which Lamport designed to fix what he saw as some shortcomings in Pnueli's approach. So there's the connection.
Harel and Pnueli wanted a formalism that makes it easy for both humans and machines (formal verification) to understand. Formal verification with model checking is, of course, also central in behavioral programming. I guess you could say that synchronous programming (and so behavioral programming, which is a kind of SP) is related to TLA+ in a similar way to how Haskell is related to, say, Agda.