The Kondo lattice model describes a quantum phase transition between the antiferromagnetic state and heavy-fermion states. Applying the dual-fermion approach, we explore possible superconductivities emerging due to the critical antiferromagnetic fluctuations. The d-wave pairing is found to be the leading instability only in the weak-coupling regime. As the coupling is increased, we observe a change of the pairing symmetry into a p-wave spin-singlet pairing. The competing superconductivities are ascribed to crossover between small and large Fermi surfaces, which occurs with the formation of heavy quasiparticles.