diff --git a/hardware/opentrons_hardware/scripts/can_comm.py b/hardware/opentrons_hardware/scripts/can_comm.py
index c55e9b6ef80..f5f74881ddf 100644
--- a/hardware/opentrons_hardware/scripts/can_comm.py
+++ b/hardware/opentrons_hardware/scripts/can_comm.py
@@ -7,6 +7,7 @@
 from logging.config import dictConfig
 from typing import Type, Sequence, Callable, TypeVar
 
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.firmware_bindings.constants import (
     MessageId,
     NodeId,
@@ -20,7 +21,6 @@
 from opentrons_hardware.drivers.can_bus.abstract_driver import AbstractCanDriver
 from opentrons_hardware.firmware_bindings.messages.messages import get_definition
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 from opentrons_hardware.firmware_bindings.utils import (
     BinarySerializable,
@@ -213,10 +213,8 @@ async def ui_task(can_driver: AbstractCanDriver) -> None:
             print(in_red(str(e)))
 
 
-async def run(args: argparse.Namespace) -> None:
-    """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-
+async def run_ui(driver: AbstractCanDriver) -> None:
+    """Run the UI."""
     loop = asyncio.get_event_loop()
     fut = asyncio.gather(
         loop.create_task(listen_task(driver)), loop.create_task(ui_task(driver))
@@ -227,8 +225,12 @@ async def run(args: argparse.Namespace) -> None:
         fut.cancel()
     except asyncio.CancelledError:
         pass
-    finally:
-        driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    async with build.driver(build_settings(args)) as driver:
+        await (run_ui(driver))
 
 
 def in_red(s: str) -> str:
diff --git a/hardware/opentrons_hardware/scripts/can_control.py b/hardware/opentrons_hardware/scripts/can_control.py
index 533b14e27c1..a0f84bf2a38 100644
--- a/hardware/opentrons_hardware/scripts/can_control.py
+++ b/hardware/opentrons_hardware/scripts/can_control.py
@@ -11,13 +11,10 @@
 from logging.config import dictConfig
 from typing import TextIO, Optional
 
+from opentrons_hardware.drivers.can_bus import build, CanMessenger
 from opentrons_hardware.drivers.can_bus.abstract_driver import AbstractCanDriver
-from opentrons_hardware.drivers.can_bus.can_messenger import (
-    CanMessenger,
-)
-from opentrons_hardware.firmware_bindings.message import CanMessage
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
+from opentrons_hardware.firmware_bindings.message import CanMessage
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
 from .can_mon import task as monitor_task
@@ -76,24 +73,19 @@ async def input_task(
 
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-
-    messenger = CanMessenger(driver)
-    messenger.start()
-
-    try:
-        all_fut = asyncio.gather(
-            monitor_task(messenger, args.output),
-            input_task(driver, args.input, args.output),
-        )
-        await all_fut
-    except KeyboardInterrupt:
-        all_fut.cancel()
-    except asyncio.CancelledError:
-        pass
-    finally:
-        await messenger.stop()
-        driver.shutdown()
+    async with build.driver(build_settings(args)) as driver, CanMessenger(
+        driver
+    ) as messenger:
+        try:
+            all_fut = asyncio.gather(
+                monitor_task(messenger, args.output),
+                input_task(driver, args.input, args.output),
+            )
+            await all_fut
+        except KeyboardInterrupt:
+            all_fut.cancel()
+        except asyncio.CancelledError:
+            pass
 
 
 LOG_CONFIG = {
diff --git a/hardware/opentrons_hardware/scripts/can_mon.py b/hardware/opentrons_hardware/scripts/can_mon.py
index 87220657dd7..cf55fac22e9 100644
--- a/hardware/opentrons_hardware/scripts/can_mon.py
+++ b/hardware/opentrons_hardware/scripts/can_mon.py
@@ -9,8 +9,8 @@
 from logging.config import dictConfig
 from typing import List, TextIO
 
-
-from opentrons_hardware.drivers.can_bus.can_messenger import (
+from opentrons_hardware.drivers.can_bus import (
+    build,
     CanMessenger,
     WaitableCallback,
 )
@@ -19,7 +19,6 @@
     NodeId,
 )
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
 log = logging.getLogger(__name__)
@@ -114,22 +113,15 @@ async def task(
 
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-
-    messenger = CanMessenger(driver)
-    messenger.start()
-
-    loop = asyncio.get_event_loop()
-    fut = loop.create_task(task(messenger, args.output))
-    try:
-        await fut
-    except KeyboardInterrupt:
-        fut.cancel()
-    except asyncio.CancelledError:
-        pass
-    finally:
-        await messenger.stop()
-        driver.shutdown()
+    async with build.can_messenger(build_settings(args)) as messenger:
+        loop = asyncio.get_event_loop()
+        fut = loop.create_task(task(messenger, args.output))
+        try:
+            await fut
+        except KeyboardInterrupt:
+            fut.cancel()
+        except asyncio.CancelledError:
+            pass
 
 
 LOG_CONFIG = {
diff --git a/hardware/opentrons_hardware/scripts/gripper.py b/hardware/opentrons_hardware/scripts/gripper.py
index 928061df2f9..8dedfa306f0 100644
--- a/hardware/opentrons_hardware/scripts/gripper.py
+++ b/hardware/opentrons_hardware/scripts/gripper.py
@@ -6,6 +6,8 @@
 
 from typing import Callable
 from logging.config import dictConfig
+
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.firmware_bindings.messages import payloads
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     SetupRequest,
@@ -15,7 +17,6 @@
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
 from opentrons_hardware.firmware_bindings.constants import NodeId
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.hardware_control.gripper_settings import (
     set_pwm_param,
     set_reference_voltage,
@@ -82,19 +83,12 @@ def output_details(i: int, freq: int, duty_cycle: int, v_ref: float) -> None:
     print(f"PWM: {freq}Hz {duty_cycle}%\n")
 
 
-async def run(args: argparse.Namespace) -> None:
-    """Entry point for script."""
-    os.system("cls")
-    os.system("clear")
-
-    print("Gripper testing beings... \n")
+async def run_test(messenger: CanMessenger) -> None:
+    """Run the for test."""
+    print("Gripper testing begins... \n")
     pwm_freq = prompt_int_input("PWM frequency in Hz (int)")
     pwm_duty = prompt_int_input("PWM duty cycle in % (int)")
 
-    driver = await build_driver(build_settings(args))
-    messenger = CanMessenger(driver=driver)
-    messenger.start()
-
     """Setup gripper"""
     try:
         await messenger.send(node_id=NodeId.gripper, message=SetupRequest())
@@ -119,8 +113,15 @@ async def run(args: argparse.Namespace) -> None:
     finally:
         print("\nTesting finishes...\n")
         await messenger.send(node_id=NodeId.gripper, message=DisableMotorRequest())
-        await messenger.stop()
-        driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    os.system("cls")
+    os.system("clear")
+
+    async with build.can_messenger(build_settings(args)) as messenger:
+        await run_test(messenger)
 
 
 log = logging.getLogger(__name__)
diff --git a/hardware/opentrons_hardware/scripts/gripper_currents.py b/hardware/opentrons_hardware/scripts/gripper_currents.py
index e88b809a89f..9a33a875561 100644
--- a/hardware/opentrons_hardware/scripts/gripper_currents.py
+++ b/hardware/opentrons_hardware/scripts/gripper_currents.py
@@ -6,6 +6,8 @@
 
 from typing import Callable
 from logging.config import dictConfig
+
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     SetupRequest,
     DisableMotorRequest,
@@ -17,7 +19,6 @@
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
 from opentrons_hardware.firmware_bindings.constants import NodeId
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.hardware_control.gripper_settings import (
     set_pwm_param,
     set_reference_voltage,
@@ -73,22 +74,15 @@ async def execute_move(messenger: CanMessenger) -> None:
     )
 
 
-async def run(args: argparse.Namespace) -> None:
-    """Entry point for script."""
-    os.system("cls")
-    os.system("clear")
-
-    print("Gripper testing beings... \n")
+async def run_test(messenger: CanMessenger) -> None:
+    """Run test."""
+    print("Gripper testing begins... \n")
     print("Hints: \033[96mdefaults values\033[0m \n")
     v_ref = prompt_float_input(
         "Set reference voltage in A (float, \033[96m0.5A\033[0m)"
     )
     pwm_freq = prompt_int_input("Set PWM frequency in Hz (int, \033[96m32000Hz\033[0m)")
 
-    driver = await build_driver(build_settings(args))
-    messenger = CanMessenger(driver=driver)
-    messenger.start()
-
     try:
         await messenger.send(node_id=NodeId.gripper, message=SetupRequest())
         await set_reference_voltage(messenger, v_ref)
@@ -114,8 +108,15 @@ async def run(args: argparse.Namespace) -> None:
     finally:
         print("\nTesting finishes...\n")
         await messenger.send(node_id=NodeId.gripper, message=DisableMotorRequest())
-        await messenger.stop()
-        driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    os.system("cls")
+    os.system("clear")
+
+    async with build.can_messenger(build_settings(args)) as messenger:
+        await run_test(messenger)
 
 
 log = logging.getLogger(__name__)
diff --git a/hardware/opentrons_hardware/scripts/monitor_sensors.py b/hardware/opentrons_hardware/scripts/monitor_sensors.py
index 292214148bc..47b730b2bf5 100644
--- a/hardware/opentrons_hardware/scripts/monitor_sensors.py
+++ b/hardware/opentrons_hardware/scripts/monitor_sensors.py
@@ -3,7 +3,8 @@
 import argparse
 import datetime
 
-from opentrons_hardware.drivers.can_bus.can_messenger import (
+from opentrons_hardware.drivers.can_bus import (
+    build,
     CanMessenger,
     WaitableCallback,
 )
@@ -19,7 +20,6 @@
     sensor_fixed_point_conversion,
 )
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
 
@@ -67,14 +67,12 @@ async def do_run(
 
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
-    driver = await build_driver(build_settings(args))
     target = constants.NodeId["pipette_" + args.mount]
     sensor = constants.SensorType[args.sensor]
 
-    messenger = CanMessenger(driver)
-    messenger.start()
-    with WaitableCallback(messenger) as reader:
-        return await do_run(messenger, reader, target, sensor, args.threshold)
+    async with build.can_messenger(build_settings(args)) as messenger:
+        with WaitableCallback(messenger) as reader:
+            return await do_run(messenger, reader, target, sensor, args.threshold)
 
 
 def main() -> None:
diff --git a/hardware/opentrons_hardware/scripts/move.py b/hardware/opentrons_hardware/scripts/move.py
index f48e66ad09f..aa861450dc3 100644
--- a/hardware/opentrons_hardware/scripts/move.py
+++ b/hardware/opentrons_hardware/scripts/move.py
@@ -4,10 +4,8 @@
 import logging
 from numpy import float64
 from logging.config import dictConfig
-from typing import Optional
 
-from opentrons_hardware.drivers.can_bus import CanDriver
-from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
+from opentrons_hardware.drivers.can_bus import build, CanMessenger
 from opentrons_hardware.firmware_bindings.constants import NodeId
 
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
@@ -16,8 +14,7 @@
 )
 from opentrons_hardware.hardware_control.motion import MoveGroupSingleAxisStep
 from opentrons_hardware.hardware_control.move_group_runner import MoveGroupRunner
-from opentrons_hardware.scripts.can_args import add_can_args
-
+from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
 log = logging.getLogger(__name__)
 
@@ -43,15 +40,8 @@
 }
 
 
-async def run(interface: str, bitrate: int, channel: Optional[str] = None) -> None:
-    """Entry point for script."""
-    log.info(f"Connecting to {interface} {bitrate} {channel}")
-    driver = await CanDriver.build(
-        bitrate=bitrate, interface=interface, channel=channel
-    )
-    messenger = CanMessenger(driver=driver)
-    messenger.start()
-
+async def run_move(messenger: CanMessenger) -> None:
+    """Run the move."""
     await messenger.send(node_id=NodeId.broadcast, message=SetupRequest())
     await messenger.send(node_id=NodeId.broadcast, message=EnableMotorRequest())
 
@@ -99,9 +89,12 @@ async def run(interface: str, bitrate: int, channel: Optional[str] = None) -> No
         await runner.run(can_messenger=messenger)
     except asyncio.CancelledError:
         pass
-    finally:
-        await messenger.stop()
-        driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    async with build.can_messenger(build_settings(args)) as messenger:
+        await run_move(messenger)
 
 
 def main() -> None:
@@ -113,7 +106,7 @@ def main() -> None:
 
     args = parser.parse_args()
 
-    asyncio.run(run(args.interface, args.bitrate, args.channel))
+    asyncio.run(run(args))
 
 
 if __name__ == "__main__":
diff --git a/hardware/opentrons_hardware/scripts/sensor_pass.py b/hardware/opentrons_hardware/scripts/sensor_pass.py
index 3388752bda4..565e77ed2c5 100644
--- a/hardware/opentrons_hardware/scripts/sensor_pass.py
+++ b/hardware/opentrons_hardware/scripts/sensor_pass.py
@@ -6,8 +6,7 @@
 from logging.config import dictConfig
 from typing import Iterator, List, Any, Dict
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
-from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
+from opentrons_hardware.drivers.can_bus import build, CanMessenger
 from opentrons_hardware.firmware_bindings.utils.binary_serializable import Int32Field
 from opentrons_hardware.firmware_bindings.constants import NodeId, SensorType
 from opentrons_hardware.firmware_bindings.arbitration_id import ArbitrationId
@@ -89,15 +88,11 @@ def __call__(
             )
 
 
-async def run(args: argparse.Namespace) -> None:
-    """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-    messenger = CanMessenger(driver=driver)
-    messenger.start()
-
+async def run_test(messenger: CanMessenger, args: argparse.Namespace) -> None:
+    """Run the test."""
     target_z = NodeId["head_" + args.mount[0]]
     target_pipette = NodeId["pipette_" + args.mount]
-    found = await probe(messenger, set((NodeId.head, target_pipette)), 10)
+    found = await probe(messenger, {NodeId.head, target_pipette}, 10)
     if NodeId.head not in found or target_pipette not in found:
         raise RuntimeError(f"could not find targets for {args.mount} in {found}")
 
@@ -171,8 +166,12 @@ async def run(args: argparse.Namespace) -> None:
     runner = MoveGroupRunner(move_groups=[move_groups[0]])
     await runner.run(can_messenger=messenger)
     await messenger.send(NodeId.broadcast, message_definitions.DisableMotorRequest())
-    await messenger.stop()
-    driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    async with build.can_messenger(build_settings(args)) as messenger:
+        await run_test(messenger, args)
 
 
 def main() -> None:
diff --git a/hardware/opentrons_hardware/scripts/sensors.py b/hardware/opentrons_hardware/scripts/sensors.py
index 88741395f5e..c59a301e905 100644
--- a/hardware/opentrons_hardware/scripts/sensors.py
+++ b/hardware/opentrons_hardware/scripts/sensors.py
@@ -5,10 +5,11 @@
 from enum import Enum
 from typing import Type, Sequence, Callable, Tuple
 from logging.config import dictConfig
+
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.drivers.can_bus.abstract_driver import AbstractCanDriver
 from opentrons_hardware.firmware_bindings.constants import NodeId, SensorType
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
-from opentrons_hardware.drivers.can_bus.build import build_driver
 
 from .sensor_utils import (
     SensorRun,
@@ -162,18 +163,15 @@ async def ui_task(can_driver: AbstractCanDriver) -> None:
 
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-
-    loop = asyncio.get_event_loop()
-    task = loop.create_task(ui_task(driver))
-    try:
-        await task
-    except KeyboardInterrupt:
-        task.cancel()
-    except asyncio.CancelledError:
-        pass
-    finally:
-        driver.shutdown()
+    async with build.driver(build_settings(args)) as driver:
+        loop = asyncio.get_event_loop()
+        task = loop.create_task(ui_task(driver))
+        try:
+            await task
+        except KeyboardInterrupt:
+            task.cancel()
+        except asyncio.CancelledError:
+            pass
 
 
 log = logging.getLogger(__name__)
diff --git a/hardware/opentrons_hardware/scripts/set_current.py b/hardware/opentrons_hardware/scripts/set_current.py
index b319ba36003..66aaebadec5 100644
--- a/hardware/opentrons_hardware/scripts/set_current.py
+++ b/hardware/opentrons_hardware/scripts/set_current.py
@@ -7,10 +7,9 @@
 from logging.config import dictConfig
 from typing import Dict, Tuple
 
-from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.firmware_bindings.constants import NodeId
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.hardware_control.current_settings import set_currents
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
@@ -41,10 +40,6 @@
 
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-    messenger = CanMessenger(driver=driver)
-    messenger.start()
-
     with open(args.params_file_path, "r") as f:
         current_params = json.load(f)
 
@@ -52,13 +47,11 @@ async def run(args: argparse.Namespace) -> None:
     for k, v in current_params.items():
         currents[NodeId[k]] = (float(v["hold_current"]), float(v["run_current"]))
 
-    try:
-        await set_currents(messenger, currents)
-    except asyncio.CancelledError:
-        pass
-    finally:
-        await messenger.stop()
-        driver.shutdown()
+    async with build.can_messenger(build_settings(args)) as messenger:
+        try:
+            await set_currents(messenger, currents)
+        except asyncio.CancelledError:
+            pass
 
 
 def main() -> None:
diff --git a/hardware/opentrons_hardware/scripts/update_fw.py b/hardware/opentrons_hardware/scripts/update_fw.py
index 50e1ec3d299..2e7235e6cf8 100644
--- a/hardware/opentrons_hardware/scripts/update_fw.py
+++ b/hardware/opentrons_hardware/scripts/update_fw.py
@@ -6,8 +6,7 @@
 
 from typing_extensions import Final
 
-from opentrons_hardware.drivers.can_bus import CanMessenger
-from opentrons_hardware.drivers.can_bus.build import build_driver
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.firmware_bindings import NodeId
 from opentrons_hardware.firmware_update.run import run_update
 from .can_args import add_can_args, build_settings
@@ -53,12 +52,7 @@ async def run(args: argparse.Namespace) -> None:
     timeout_seconds = args.timeout_seconds
     erase = not args.no_erase
 
-    driver = await build_driver(build_settings(args))
-
-    messenger = CanMessenger(driver)
-    messenger.start()
-
-    try:
+    async with build.can_messenger(build_settings(args)) as messenger:
         await run_update(
             messenger=messenger,
             node_id=target,
@@ -67,8 +61,6 @@ async def run(args: argparse.Namespace) -> None:
             timeout_seconds=timeout_seconds,
             erase=erase,
         )
-    finally:
-        await messenger.stop()
 
     logger.info("Done")
 
diff --git a/hardware/tests/firmware_integration/conftest.py b/hardware/tests/firmware_integration/conftest.py
index badad47f022..fe4bf09cb46 100644
--- a/hardware/tests/firmware_integration/conftest.py
+++ b/hardware/tests/firmware_integration/conftest.py
@@ -26,10 +26,8 @@ async def can_messenger(
     driver: AbstractCanDriver,
 ) -> AsyncIterator[CanMessenger]:
     """Create Can messenger."""
-    messenger = CanMessenger(driver)
-    messenger.start()
-    yield messenger
-    await messenger.stop()
+    async with CanMessenger(driver) as messenger:
+        yield messenger
 
 
 @pytest.fixture