Jeff Capel is 3-3 as interim coach for Krzyzewski, who is still recovering following back surgery.
Kennard scored 12 of Duke’s final 15 points, including 11 after the Blue Devils fell behind by 10 points with less than 4 minutes to play.
N.C. State and UNC play Notre Dame while Duke hosts Baylor early in the season.
Freshman Dennis Smith Jr. scored a season-high 32 points
Jayson Tatum had 14 points and Luke Kennard 11 for the Blue Devils, who snapped a two-game skid with a dominant second half.
Grayson Allen, a frequent target of boos from the red-clad crowd, scored 23 points.
It is also the first time FSU has started 4-0 in the Atlantic Coast Conference.
Freshman Jayson Tatum matched a season high with 22 points, and No. 8 Duke held on to beat Boston College 93-82 on Saturday
Luke Kennard finished with 16 points, Frank Jackson added 15 and Harry Giles had 10 points and 12 rebounds for Duke.
Krzyzewski’s recovery time is expected to be up to four weeks.