There is not much detail in your post to offer suggestions in return but in my long experience with JA Picantos, overwhelmingly a rattle perceived in the cabin as coming from one side or another comes from the door cards (inner door panel) where it interfaces with the metal frame of the door itself.
In order to save costs in just an entry level car there is nothing more than a plastic bevel about 2 - 3 mm wide all the way around whereas the more expensive / luxurious vehicles in the Hyundai / Kia stable have much a large larger surface area that interfaces with the door panel. Simply through age and kilometres the doors only have to loosen up a little bit and you will get these rattles. The fix is easy if you have experience with vehicle trim and door removal but it does involve installing foam gaskets around the mating surfaces.
Another rattle source from the driver's side (right hand drive) can be the fuel flap release cable that runs at the edge of the floor undertray right along the edge underneath the wiring harness which is underneath the door scuff trim. It is actually just running "lose" at that point in the car whereas when it reaches the rear passenger cabin it is held down with flexible steel cable "ties" (though in my case I probably got a Friday or Monday car as the assembler simply decided not to bother tying one of the three down - at all....).
Anyway, there are other reasons for these rattles but if I acquired another Picanto tomorrow and noticed a rattle from one particular side or another these are the very first two things I would be looking at (though I can think of a few other sources of these rattles as well, though they are more involved to address though also easily addressable).