Motivated by recent developments in the experimental study of superconducting graphene and transition metal dichalcogenides, we investigate superconductivity of the Kane-Mele (KM) model with short-range attractive interactions on the two-dimensional honeycomb lattice. We show that intra-valley spin-triplet pairing arises from nearest-neighbor (NN) attractive interaction and the intrinsic spin-orbit coupling. We demonstrate this in two independent approaches: We study superconducting instability driven by condensation of Cooperons, which are in-gap bound states of two conduction electrons, within the $T$-matrix approximation and also study the superconducting ground state within the mean-field theory. We find that Cooperons with antiparallel spins condense at the $K$ and $K$ points. This leads to the emergence of an intra-valley spin-triplet pairing state belonging to the irreducible representation A$_1$ of the point group $C_{6v}$. The fact that this pairing state has opposite chirality for $K$ and $K$ identifies this state as a helical valley-triplet state, the valley-analog to the $^3$He-B phase in two dimension. Because of the finite center of mass momentum of Cooper pairs, the pair amplitude in NN bonds exhibits spatial modulation on the length scale of lattice constant, such that this pairing state may be viewed as a pair-density wave state. We find that the pair amplitude spontaneously breaks the translational symmetry and exhibits a $p$-Kekule pattern. We also discuss the selection rule for pairing states focusing the characteristic band structure of the KM model and the Berry phase effects to the emergence of the intra-valley pairing state.