diff --git a/pkg/kubelet/cm/devicemanager/device_plugin_stub.go b/pkg/kubelet/cm/devicemanager/device_plugin_stub.go
index f858b4fe149..776d456d042 100644
--- a/pkg/kubelet/cm/devicemanager/device_plugin_stub.go
+++ b/pkg/kubelet/cm/devicemanager/device_plugin_stub.go
@@ -22,6 +22,7 @@ import (
 	"net"
 	"os"
 	"path"
+	"sync"
 	"time"
 
 	"google.golang.org/grpc"
@@ -35,6 +36,7 @@ type Stub struct {
 	socket string
 
 	stop   chan interface{}
+	wg     sync.WaitGroup
 	update chan []*pluginapi.Device
 
 	server *grpc.Server
@@ -70,7 +72,8 @@ func (m *Stub) SetAllocFunc(f stubAllocFunc) {
 	m.allocFunc = f
 }
 
-// Start starts the gRPC server of the device plugin
+// Start starts the gRPC server of the device plugin. Can only
+// be called once.
 func (m *Stub) Start() error {
 	err := m.cleanup()
 	if err != nil {
@@ -82,10 +85,14 @@ func (m *Stub) Start() error {
 		return err
 	}
 
+	m.wg.Add(1)
 	m.server = grpc.NewServer([]grpc.ServerOption{}...)
 	pluginapi.RegisterDevicePluginServer(m.server, m)
 
-	go m.server.Serve(sock)
+	go func() {
+		defer m.wg.Done()
+		m.server.Serve(sock)
+	}()
 	_, conn, err := dial(m.socket)
 	if err != nil {
 		return err
@@ -96,10 +103,17 @@ func (m *Stub) Start() error {
 	return nil
 }
 
-// Stop stops the gRPC server
+// Stop stops the gRPC server. Can be called without a prior Start
+// and more than once. Not safe to be called concurrently by different
+// goroutines!
 func (m *Stub) Stop() error {
+	if m.server == nil {
+		return nil
+	}
 	m.server.Stop()
-	close(m.stop)
+	m.wg.Wait()
+	m.server = nil
+	close(m.stop) // This prevents re-starting the server.
 
 	return m.cleanup()
 }
diff --git a/pkg/kubelet/cm/devicemanager/manager.go b/pkg/kubelet/cm/devicemanager/manager.go
index 6a1cc92a2c2..576164fc8a5 100644
--- a/pkg/kubelet/cm/devicemanager/manager.go
+++ b/pkg/kubelet/cm/devicemanager/manager.go
@@ -59,6 +59,7 @@ type ManagerImpl struct {
 	mutex     sync.Mutex
 
 	server *grpc.Server
+	wg     sync.WaitGroup
 
 	// activePods is a method for listing active pods on the node
 	// so the amount of pluginResources requested by existing pods
@@ -224,10 +225,14 @@ func (m *ManagerImpl) Start(activePods ActivePodsFunc, sourcesReady config.Sourc
 		return err
 	}
 
+	m.wg.Add(1)
 	m.server = grpc.NewServer([]grpc.ServerOption{}...)
 
 	pluginapi.RegisterRegistrationServer(m.server, m)
-	go m.server.Serve(s)
+	go func() {
+		defer m.wg.Done()
+		m.server.Serve(s)
+	}()
 
 	glog.V(2).Infof("Serving device plugin registration server on %q", socketPath)
 
@@ -313,6 +318,8 @@ func (m *ManagerImpl) Register(ctx context.Context, r *pluginapi.RegisterRequest
 }
 
 // Stop is the function that can stop the gRPC server.
+// Can be called concurrently, more than once, and is safe to call
+// without a prior Start.
 func (m *ManagerImpl) Stop() error {
 	m.mutex.Lock()
 	defer m.mutex.Unlock()
@@ -320,7 +327,12 @@ func (m *ManagerImpl) Stop() error {
 		e.stop()
 	}
 
+	if m.server == nil {
+		return nil
+	}
 	m.server.Stop()
+	m.wg.Wait()
+	m.server = nil
 	return nil
 }
 
diff --git a/pkg/kubelet/cm/devicemanager/manager_test.go b/pkg/kubelet/cm/devicemanager/manager_test.go
index 6c60e2c16b1..4f37cb191c2 100644
--- a/pkg/kubelet/cm/devicemanager/manager_test.go
+++ b/pkg/kubelet/cm/devicemanager/manager_test.go
@@ -67,6 +67,29 @@ func TestNewManagerImplStart(t *testing.T) {
 	defer os.RemoveAll(socketDir)
 	m, p := setup(t, []*pluginapi.Device{}, func(n string, a, u, r []pluginapi.Device) {}, socketName, pluginSocketName)
 	cleanup(t, m, p)
+	// Stop should tolerate being called more than once.
+	cleanup(t, m, p)
+}
+
+func TestNewManagerImplStop(t *testing.T) {
+	socketDir, socketName, pluginSocketName, err := tmpSocketDir()
+	require.NoError(t, err)
+	defer os.RemoveAll(socketDir)
+
+	m, err := newManagerImpl(socketName)
+	require.NoError(t, err)
+	// No prior Start, but that should be okay.
+	err = m.Stop()
+	require.NoError(t, err)
+
+	devs := []*pluginapi.Device{
+		{ID: "Dev1", Health: pluginapi.Healthy},
+		{ID: "Dev2", Health: pluginapi.Healthy},
+	}
+	p := NewDevicePluginStub(devs, pluginSocketName)
+	// Same here.
+	err = p.Stop()
+	require.NoError(t, err)
 }
 
 // Tests that the device plugin manager correctly handles registration and re-registration by