The mishap occurred when the bike, on which the victims were heading from Parvathipuram to Rambhadrapuram, was hit by the APSRTC bus near Chinnatalli temple in Rambhadrapuram, sub-inspector Narayana Rao said.
The bus was on its way to Parvathipuram from Visakhapatnam.
The bodies of the victims, identified as Chinna Rao (30) and his relative Ganta Krishna (40), were shifted to Badangi government hospital for autopsy, police added.