Storage systems using Peer-to-Peer (P2P) architecture are an alternative to the traditional client-server systems. They offer better scalability and fault tolerance while at the same time eliminate the single point of failure. The nature of P2P storage systems (which consist of heterogeneous nodes) introduce however data placement challenges that create implementation trade-offs (e.g., between performance and scalability). Existing Kademlia-based DHT data placement method stores data at closest node, where the distance is measured by bit-wise XOR operation between data and a given node. This approach is highly scalable because it does not require global knowledge for placing data nor for the data retrieval. It does not however consider the heterogeneous performance of the nodes, which can result in imbalanced resource usage affecting the overall latency of the system. Other works implement criteria-based selection that addresses heterogeneity of nodes, however often cause subsequent data retrieval to require global knowledge of where the data stored. This paper introduces Residual Performance-based Data Placement (RPDP), a novel data placement method based on dynamic temporal residual performance of data nodes. RPDP places data to most appropriate selected nodes based on their throughput and latency with the aim to achieve lower overall latency by balancing data distribution with respect to the individual performance of nodes. RPDP relies on Kademlia-based DHT with modified data structure to allow data subsequently retrieved without the need of global knowledge. The experimental results indicate that RPDP reduces the overall latency of the baseline Kademlia-based P2P storage system (by 4.87%) and it also reduces the variance of latency among the nodes, with minimal impact to the data retrieval complexity.