This paper proposes a power control algorithm for our previously reported joint control method for autonomous cell association and transmission power control of picobase stations (BSs) in heterogeneous networks with intercell interference coordination (ICIC), where low transmission-power pico-BSs are overlaid onto a high transmission-power macro-BS. We previously proposed a two-step power control algorithm whose calculation complexity is relatively low. However, the algorithm does not necessarily find the optimal solution for the given problem. Therefore, in this paper, we propose an iterative power control algorithm that always finds the optimal solution and compares the algorithm to the previous one. Based on numerical results, we show that the new optimal algorithm achieves a higher geometric mean user throughput than the previous one. However, we also show that the throughput gain is small and the previous algorithm achieves a higher geometric mean user throughput than the optimal one when we assume the same computational complexity.