diff --git a/drivers/usrsock/usrsock_rpmsg_server.c b/drivers/usrsock/usrsock_rpmsg_server.c
index fd6b6baa6e5..26a49d6c920 100644
--- a/drivers/usrsock/usrsock_rpmsg_server.c
+++ b/drivers/usrsock/usrsock_rpmsg_server.c
@@ -496,7 +496,8 @@ out:
   retr = usrsock_rpmsg_send_ack(ept, events, req->head.xid, ret);
   if (retr >= 0 && events == 0)
     {
-      usrsock_rpmsg_poll_setup(&priv->pfds[req->usockid], POLLOUT);
+      usrsock_rpmsg_poll_setup(&priv->pfds[req->usockid],
+                               priv->pfds[req->usockid].events | POLLOUT);
     }
 
   if (priv->iov[0].iov_base)
@@ -640,7 +641,8 @@ static int usrsock_rpmsg_recvfrom_handler(FAR struct rpmsg_endpoint *ept,
 
   if (retr >= 0 && events == 0)
     {
-      usrsock_rpmsg_poll_setup(&priv->pfds[req->usockid], POLLIN);
+      usrsock_rpmsg_poll_setup(&priv->pfds[req->usockid],
+                               priv->pfds[req->usockid].events | POLLIN);
     }
 
   return retr;
@@ -1054,16 +1056,21 @@ static void usrsock_rpmsg_poll_setup(FAR struct pollfd *pfds,
 
   if (events)
     {
-      if (!pfds->events)
+      if (pfds->events)
         {
+          ret = psock_poll(psock, pfds, false);
+        }
+
+      if (ret >= 0)
+        {
+          /* The protocol stack monitor flag is different when the events is
+           * POLLIN or POLLOUT, so we have to call poll_setup again.
+           */
+
           pfds->revents = 0;
           pfds->events = events;
           ret = psock_poll(psock, pfds, true);
         }
-      else
-        {
-          pfds->events = events;
-        }
     }
   else
     {
@@ -1127,13 +1134,9 @@ static void usrsock_rpmsg_poll_cb(FAR struct pollfd *pfds)
         }
     }
 
-  if (!(pfds->events & (POLLIN | POLLOUT)))
-    {
-      usrsock_rpmsg_poll_setup(pfds, 0);
-    }
-
   if (events != 0)
     {
+      usrsock_rpmsg_poll_setup(pfds, pfds->events);
       usrsock_rpmsg_send_event(priv->epts[pfds->fd], pfds->fd, events);
     }