But I would like to control the thickness A, B, C of the lipid, since I’d like to allow some area of the protein to be exposed outside the lipid (they’re extracellular region of the protein).
This is not really a GROMACS question. The height of a bilayer is controlled by the type of lipid you use, the thermodynamic conditions and the quality of the force field. Any settings in a simulation code, apart from thermodynamic state parameters, have no effect on this height.
I don’t know how you generated the structure in the picture, but the height of the membrane might change a bit when you equilibrate the system.