[samokan]

if there is a bus going directly to Kyoto, it might be convenient for you.

if you want to take the train, you use either JR or Hankyu Line.

if you use JR Line you need to change at least once:
JR(Itami ) -> JR (Amagasaki) -> to Kyoto

if you use Hankyu Line you need to change twice
Hankyu (itami ) -> Hankyu (tsukaguchi) -> Hankyu (Juso/Umeda) - Kyoto.