Your test:
if (ListBoxKlanten.Items.Count == 0)
is insufficient.
In this case it's apparent that
listBoxKlantenContact
has values, but none is selected so
listBoxKlantenContact.SelectedValue
is null.
Try using
command.Parameters.AddWithValue("@SELKlantcontactinfoID", listBoxKlantenContact.SelectedValue ?? DBNull.Value);