A valve control device controls an actuator for operating a valve based on a signal indicating a degree of opening of the valve and a signal indicating starting of an engine for which the valve. The valve control device includes a fully closed learning processing unit configured to learn a seated position at which a valve body is seated on a valve seat whenever the engine is started on the basis of the startup signal and the degree-of-opening signal, and a target value setting unit configured to set a soft-landing initiation position when the valve body is seated based on the seated position and set a target value with the valve body is decelerated from the soft-landing initiation position, and the valve body is seated at a predetermined seating speed. A control driving unit is configured to generate a drive signal based on the target value and the degree-of-opening signal.