You should be very happy that you're taking up more real estate in the SERP for a given keyword. They are of course "competing" - in the sense that every page in Google's index is being weighed to determine which is the best result for that query - but they aren't directly hindering each other.
The last thing you should do is remove a well-ranking page. If you would much prefer one page to rank higher than the other, then I would find ways to pass a little relevance from page B to page A, such is with an internal link or additional optimization. Otherwise, remember that total clicks to 2 pages ranking lower on the page may very well be equal to or even exceed clicks to a single page that ranks higher.