Snap off tough ends of asparagus; place in a shallow dish.
Whisk together grated rind and next 6 ingredients. Pour one-third of vinaigrette over asparagus; cover and chill 1 hour. Drain. Set aside remaining vinaigrette.
Grill asparagus, covered with grill lid, over medium-high heat (350° to 400°) 8 to 10 minutes or until crisp-tender; cool.
Combine greens, remaining vinaigrette, and, if desired, bacon; place evenly on 6 salad plates. Arrange asparagus over salad. Garnish, if desired.
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