There is provided a communication control device including an acquisition unit configured to acquire a reception timing at which a second radio communication device receives a downlink signal from a base station performing radio communication with a first radio communication device or the second radio communication device, and a decision unit configured to decide a transmission timing at which the second radio communication device transmits a signal to the first radio communication device through inter-device communication based on the reception timing. The decided transmission timing is a timing later than a timing at which the second radio communication device transmits an uplink signal.