diff --git a/include/mav/Connection.h b/include/mav/Connection.h
index bc3af7e..2cdb497 100644
--- a/include/mav/Connection.h
+++ b/include/mav/Connection.h
@@ -55,6 +55,7 @@ namespace mav {
         using Expectation = std::shared_ptr<std::promise<Message>>;
 
     private:
+        using ExpectationWeakRef = std::weak_ptr<std::promise<Message>>;
 
         struct FunctionCallback {
             std::function<void(const Message &message)> callback;
@@ -62,7 +63,7 @@ namespace mav {
         };
 
         struct PromiseCallback {
-            Expectation promise;
+            ExpectationWeakRef promise;
             std::function<bool(const Message &message)> selector;
         };
 
@@ -88,6 +89,11 @@ namespace mav {
 
     public:
 
+        size_t callbackCount() {
+            std::scoped_lock<std::mutex> lock(_message_callback_mtx);
+            return _message_callbacks.size();
+        }
+
         void removeAllCallbacks() {
             std::scoped_lock<std::mutex> lock(_message_callback_mtx);
             _message_callbacks.clear();
@@ -102,7 +108,7 @@ namespace mav {
             return _partner;
         }
 
-        void consumeMessageFromNetwork(const Message& message) {
+        void consumeMessageFromNetwork(const Message& message) noexcept {
             // in case we received a heartbeat, update last heartbeat time, to keep the connection alive.
             _last_received_ms = millis();
 
@@ -121,11 +127,16 @@ namespace mav {
                             }
                             it++;
                         } else if constexpr (std::is_same_v<T, PromiseCallback>) {
-                            if (arg.selector(message)) {
-                                arg.promise->set_value(message);
+                            auto promise = arg.promise.lock();
+                            if (!promise) {
                                 it = _message_callbacks.erase(it);
                             } else {
-                                it++;
+                                if (arg.selector(message)) {
+                                    promise->set_value(message);
+                                    it = _message_callbacks.erase(it);
+                                } else {
+                                    it++;
+                                }
                             }
                         }
                     }, callback);
@@ -133,7 +144,7 @@ namespace mav {
             }
         }
 
-        void consumeNetworkExceptionFromNetwork(const std::exception_ptr& exception) {
+        void consumeNetworkExceptionFromNetwork(const std::exception_ptr& exception) noexcept {
             _underlying_network_fault = true;
             std::scoped_lock<std::mutex> lock(_message_callback_mtx);
             auto it = _message_callbacks.begin();
@@ -147,8 +158,13 @@ namespace mav {
                         }
                         it++;
                     } else if constexpr (std::is_same_v<T, PromiseCallback>) {
-                        arg.promise->set_exception(exception);
-                        it = _message_callbacks.erase(it);
+                        auto promise = arg.promise.lock();
+                        if (!promise) {
+                            it = _message_callbacks.erase(it);
+                        } else {
+                            promise->set_exception(exception);
+                            it = _message_callbacks.erase(it);
+                        }
                     }
                 }, callback);
             }
diff --git a/tests/Network.cpp b/tests/Network.cpp
index 18b4e03..7aac93f 100644
--- a/tests/Network.cpp
+++ b/tests/Network.cpp
@@ -199,11 +199,24 @@ TEST_CASE("Create network runtime") {
         CHECK_THROWS_AS(auto message = connection->receive(expectation, 100), TimeoutException);
     }
 
-    SUBCASE("Receive throws a NetworkError if the interface fails") {
+    SUBCASE("Receive throws a NetworkError if the interface fails, error callback gets called") {
         interface.reset();
+
+        // add a callback using the callback API. The error should then call the error callback
+        auto error_callback_called_promise = std::promise<void>();
+        connection->addMessageCallback([](const Message &message) {
+           // do nothing
+        }, [&error_callback_called_promise](const std::exception_ptr& exception) {
+            error_callback_called_promise.set_value();
+            CHECK_THROWS_AS(std::rethrow_exception(exception), NetworkError);
+        });
+
         auto expectation = connection->expect("TEST_MESSAGE");
         interface.makeFailOnNextReceive();
+        // Receive on the sync api. The receive should then throw an exception
         CHECK_THROWS_AS(auto message = connection->receive(expectation), NetworkError);
+        CHECK((error_callback_called_promise.get_future().wait_for(std::chrono::seconds(2)) != std::future_status::timeout));
+        connection->removeAllCallbacks();
     }
 
     SUBCASE("Connection recycled on recover after fail") {
@@ -265,4 +278,33 @@ TEST_CASE("Create network runtime") {
                 interface_partner));
         CHECK(found);
     }
+
+    SUBCASE("Correct callback called when message is received") {
+        interface.reset();
+        std::promise<void> callback_called_promise;
+        auto callback_called_future = callback_called_promise.get_future();
+
+        connection->addMessageCallback([&callback_called_promise](const Message &message) {
+            if (message.name() == "TEST_MESSAGE") {
+                callback_called_promise.set_value();
+            }
+        });
+
+        interface.addToReceiveQueue("\xfd\x10\x00\x00\x01\x61\x61\xbc\x26\x00\x2a\x00\x00\x00\x48\x65\x6c\x6c\x6f\x20\x57\x6f\x72\x6c\x64\x21\x53\xd9"s, interface_partner);
+        CHECK((callback_called_future.wait_for(std::chrono::seconds(2)) != std::future_status::timeout));
+        connection->removeAllCallbacks();
+    }
+
+    SUBCASE("Callbacks are cleaned up on receive timeout") {
+        interface.reset();
+        for (int i = 0; i < 10; i++) {
+            auto expectation = connection->expect("TEST_MESSAGE");
+            CHECK_THROWS_AS(auto message = connection->receive(expectation, 100), TimeoutException);
+        }
+        // send a heartbeat. Any message will clear expired expectations
+        interface.addToReceiveQueue("\xfd\x09\x00\x00\x00\xfd\x01\x00\x00\x00\x04\x00\x00\x00\x01\x02\x03\x05\x06\x77\x53"s, interface_partner);
+        // wait for the heartbeat to be received, to make sure timing is correct in test
+        connection->receive("HEARTBEAT");
+        CHECK_EQ(connection->callbackCount(), 0);
+    }
 }