If you can get a 31 you can get off at Kilburn Park and it is one stop to
Queens Park (if you were wishing to go on from Queens Park you can either stay
on the Bakerloo or change to silverlink).

Incidentally, regarding comments on TfL, I have found their route planners
quite handy, eg, on New Year's Eve, they came up with routes I hadn't thought
of by combining stations and all night bus routes, having the times etc. More
recently when I started my journey plan from my own road, it came up with
intersections to specify, quite useful as I'm on a long road without buses, and
proximity to nearby bus routes depends whereabouts on my road you start.
Now if you were to ask my opinion on the tube site, which I've just tried for
information on freedom pass limits (couldn't even find "freedom pass" with a
search, and their "FAQs" page provided no answers), I'd say "silly" was a
euphemism.