Recent observations have revealed two types of decayless transverse oscillations in short coronal loops: one with short periods scaling with loop lengths, and the other with longer periods that exhibit a peak at around 5 minutes in the period distribution. To understand such a difference in period, we work in the framework of ideal MHD and model a short coronal loop embedded in an atmosphere with density stratification from the chromosphere to the corona. An inclined p-mode-like driver with a period of 5 minutes is launched at one loop footpoint. It is discovered that two types of decayless transverse oscillations can be excited in the loop. We interpret the 5 minutes periodicity as being directly driven by the footpoint driver, while the others, with periods of several tens of seconds, are regarded as kink eigenmodes of different harmonics. Therefore, our simulation shows that both types of decayless oscillations found in observations can be excited by p-modes in one short coronal loop. This study extends our understanding of ubiquitous decayless transverse oscillations in the corona. Furthermore, it suggests that p-modes could be an important energy source for coronal heating by driving decayless transverse oscillations.