diff --git a/hardware/opentrons_hardware/hardware_control/motor_enable_disable.py b/hardware/opentrons_hardware/hardware_control/motor_enable_disable.py
index 9928b841da9..32897d16679 100644
--- a/hardware/opentrons_hardware/hardware_control/motor_enable_disable.py
+++ b/hardware/opentrons_hardware/hardware_control/motor_enable_disable.py
@@ -122,7 +122,9 @@ def _listener(message: MessageDefinition, arb_id: ArbitrationId) -> None:
             )
         else:
             log.debug("Read motor status terminated, no missing nodes.")
-    return reported
+    finally:
+        can_messenger.remove_listener(_listener)
+        return reported
 
 
 async def get_tip_motor_enabled(