Which earlier command is the Pasuk referring to?
Seforno: It is referring to 15:31, warning Yisrael against indulging in Tum'ah - incorporating dealing with the spirit of Tum'ah and the demons. 1
Why did Hashem need to mention Aharon and his sons independently?
Sifra: Because we would otherwise have thought that, since they are not Chayav for bringing Korbanos on the Mizbe'ach, they are not Chayav for Shechutei Chutz either.
What are the implications of "ve'el Kol B'nei Yisrael"?
Zevachim, 116b: It implies that Nochrim are precluded from the Chiyuv of Shechutei Chutz. 1
See Torah Temimah, note 2.
Why did Hashem add the (otherwise superfluous) words "Ve'amarta Aleihem"?
Sifra: To incorporate Geirim and Avadim in the Chiyuv of Shechutei Chutz.
Why did Hashem insert the (otherwise superfluous) phrase "Zeh ha'Davar asher Tzivah Hashem?
Sifra: To teach us that Moshe taught the people word for word what Hashem told him - and this is a Binyan ha'Av that applies to the entire Torah. 1
Nedarim, 78a: To teach us, via a Gezeirah Shavah "Zeh ha'Davar" "Zeh ha'Davar" from Parshas Nedarim, that, like Nedarim, Hekdesh is subject to She'eilah (by three Hedyotos or one Mumcheh). 2
Oznayim la'Torah #1 (citing the Midrash Rabah): It refers to the command not to sacrifice on Bamos that Hashem had already them when the Mishkan was erected and which they transgressed. 3 And the Torah is now in order not to create a Chillul Hashem.
Oznayim la'Torah #2: Whenever the word "ha'Davar" appears in the Torah, it teaches us the importance of speech. In the current Pasuk, it is referring to the declaration of Hekdesh - both vis-a-vis a Korban and vis-a-vis the Azarah - inasmuch as someone who Shechts or sacrifices a Korban (which he declared Hekdesh) outside the Azarah (which Yisrael sanctified) is Chayav Kareis. 4
Oznayim la'Torah #3: The word "Zeh ha'Davar" hints that, when the Beis-Hamikdash is not standing, one fulfils the Mitzvah of Korbanos with words - by learning about them. 5
Why must Moshe speak to the Kohanim and Bnei Yisrael?
Ramban, Moshav Zekenim: The Kohanim may not offer outside the Mikdash, and Yisrael must bring their Korbanos to the Kohanim, and not offer them by themselves.