Abstract Star formation rate density, Σ SFR , has shown a remarkable correlation with both components of the baryonic mass kiloparsec scales (i.e., the stellar mass density and molecular gas mass density, Σ * and Σ mol , respectively) for galaxies in the nearby universe. In this study, we propose an empirical relation between Σ SFR and the baryonic mass surface density (Σ b = Σ mol,Av + Σ * , where Σ mol,Av is the molecular gas derived from the optical extinction, A V ) at kiloparsec scales using the spatially resolved properties of the MaNGA survey, the largest sample of galaxies observed via integral field spectroscopy (∼8400 objects). We find that Σ SFR tightly correlates with Σ b . Furthermore, we derive an empirical relation between Σ SFR and a second-degree polynomial of Σ b , yielding a one-to-one relation between these two observables. Both Σ b and its polynomial form show a stronger correlation and smaller scatter with respect to Σ SFR than the relations derived using the individual components of Σ b . Our results suggest that these three parameters are indeed physically correlated, suggesting a scenario in which the two components of the baryonic mass regulate the star formation activity at kiloparsec scales.