diff --git a/init/service.cpp b/init/service.cpp
index 3a9f62228..881825fe8 100644
--- a/init/service.cpp
+++ b/init/service.cpp
@@ -209,21 +209,33 @@ void Service::NotifyStateChange(const std::string& new_state) const {
 }
 
 void Service::KillProcessGroup(int signal) {
-    LOG(INFO) << "Sending signal " << signal
-              << " to service '" << name_
-              << "' (pid " << pid_ << ") process group...";
-    int r;
-    if (signal == SIGTERM) {
-        r = killProcessGroupOnce(uid_, pid_, signal);
-    } else {
-        r = killProcessGroup(uid_, pid_, signal);
-    }
-    if (r == -1) {
-        LOG(ERROR) << "killProcessGroup(" << uid_ << ", " << pid_ << ", " << signal << ") failed";
-    }
-    if (kill(-pid_, signal) == -1) {
+    // We ignore reporting errors of ESRCH as this commonly happens in the below case,
+    // 1) Terminate() is called, which sends SIGTERM to the process
+    // 2) The process successfully exits
+    // 3) ReapOneProcess() is called, which calls waitpid(-1, ...) which removes the pid entry.
+    // 4) Reap() is called, which sends SIGKILL, but the pid no longer exists.
+    // TODO: sigaction for SIGCHLD reports the pid of the exiting process,
+    // we should do this kill with that pid first before calling waitpid().
+    if (kill(-pid_, signal) == -1 && errno != ESRCH) {
         PLOG(ERROR) << "kill(" << pid_ << ", " << signal << ") failed";
     }
+
+    // If we've already seen a successful result from killProcessGroup*(), then we have removed
+    // the cgroup already and calling these functions a second time will simply result in an error.
+    // This is true regardless of which signal was sent.
+    // These functions handle their own logging, so no additional logging is needed.
+    if (!process_cgroup_empty_) {
+        LOG(INFO) << "Sending signal " << signal << " to service '" << name_ << "' (pid " << pid_
+                  << ") process group...";
+        int r;
+        if (signal == SIGTERM) {
+            r = killProcessGroupOnce(uid_, pid_, signal);
+        } else {
+            r = killProcessGroup(uid_, pid_, signal);
+        }
+
+        if (r == 0) process_cgroup_empty_ = true;
+    }
 }
 
 void Service::SetProcessAttributes() {
@@ -736,6 +748,7 @@ bool Service::Start() {
     time_started_ = boot_clock::now();
     pid_ = pid;
     flags_ |= SVC_RUNNING;
+    process_cgroup_empty_ = false;
 
     errno = -createProcessGroup(uid_, pid_);
     if (errno != 0) {
diff --git a/init/service.h b/init/service.h
index 426577ffe..b9c270aa6 100644
--- a/init/service.h
+++ b/init/service.h
@@ -107,6 +107,7 @@ class Service {
     int ioprio_pri() const { return ioprio_pri_; }
     int priority() const { return priority_; }
     int oom_score_adjust() const { return oom_score_adjust_; }
+    bool process_cgroup_empty() const { return process_cgroup_empty_; }
     const std::vector<std::string>& args() const { return args_; }
 
   private:
@@ -179,6 +180,8 @@ class Service {
 
     int oom_score_adjust_;
 
+    bool process_cgroup_empty_ = false;
+
     std::vector<std::string> args_;
 };
 
diff --git a/init/service_test.cpp b/init/service_test.cpp
index 4493f254a..b9c4627ad 100644
--- a/init/service_test.cpp
+++ b/init/service_test.cpp
@@ -45,6 +45,7 @@ TEST(service, pod_initialized) {
     EXPECT_EQ(0, service_in_old_memory->ioprio_pri());
     EXPECT_EQ(0, service_in_old_memory->priority());
     EXPECT_EQ(-1000, service_in_old_memory->oom_score_adjust());
+    EXPECT_FALSE(service_in_old_memory->process_cgroup_empty());
 
     for (std::size_t i = 0; i < memory_size; ++i) {
         old_memory[i] = 0xFF;
@@ -64,4 +65,5 @@ TEST(service, pod_initialized) {
     EXPECT_EQ(0, service_in_old_memory2->ioprio_pri());
     EXPECT_EQ(0, service_in_old_memory2->priority());
     EXPECT_EQ(-1000, service_in_old_memory2->oom_score_adjust());
+    EXPECT_FALSE(service_in_old_memory->process_cgroup_empty());
 }