A transverse magnetic field in graphene, together with the high speed of Dirac electrons moving with Fermi velocity, gives rise to a set of collective modes, viz., kinetic magneto-plasmonic modes, two-dimensional equivalent of Bernstein modes, with frequencies in between the harmonics of electron cyclotron frequency. We develop a Vlasov theory of these modes in a moderate magnetic field, including finite gyroradius effects, and study their excitation by laser through linear mode conversion, facilitated by grating or periodic ribbons. At k(rho) -> 0 (where k is the wave number and rho is the gyroradius of electrons), the magnetoplasmonic modes have frequencies near the harmonics of electron cyclotron frequency. The frequencies rise with wave number, attain maxima in the vicinity of the next cyclotron harmonic, and then fall off. In high-mobility graphene, with ribbons or grating of appropriate ripple wave number, a normally impinged laser coverts a significant fraction of its power into magnetoplasmons, reducing the laser transmissivity as observed in experiments. (C) The Authors. Published by SPIE under a Creative Commons Attribution 3.0 Unported License.