Kaon excitations (kaonic modes) are investigated in hyperonic matter, where hyperons (Λ, Σ − , Ξ − ) are mixed in the ground state of neutron-star matter. P -wave kaon-baryon interactions as well as the s-wave interactions are taken into account within chiral effective Lagrangian, and the nonrelativistic effective baryon-baryon interactions are incorporated. When the hyperon Λ is more abundant than the proton at high baryon density, a proton-particle-Λ-hole mode, which has the K + quantum number, appears in addition to other particle-hole modes with the K − quantum number. It is shown that the system becomes unstable with respect to a spontaneous creation of a pair of the particle-hole modes with K + and K − quantum numbers, stemming from the p-wave kaon-baryon interaction. The onset density of this p-wave kaon condensation may be lower than that of the s-wave K − condensation.