diff --git a/CHANGELOG_PENDING.md b/CHANGELOG_PENDING.md
index f211a27f3..d913443a2 100644
--- a/CHANGELOG_PENDING.md
+++ b/CHANGELOG_PENDING.md
@@ -17,5 +17,8 @@
 ### FEATURES:
 
 ### IMPROVEMENTS:
+- [abci] \#3809 Recover from application panics in `server/socket_server.go` to allow socket cleanup (@ruseinov)
 
 ### BUG FIXES:
+- [p2p] \#3338 Prevent "sent next PEX request too soon" errors by not calling
+  ensurePeers outside of ensurePeersRoutine
diff --git a/abci/server/socket_server.go b/abci/server/socket_server.go
index 4b92f04cf..38649ac7f 100644
--- a/abci/server/socket_server.go
+++ b/abci/server/socket_server.go
@@ -146,6 +146,16 @@ func (s *SocketServer) waitForClose(closeConn chan error, connID int) {
 func (s *SocketServer) handleRequests(closeConn chan error, conn net.Conn, responses chan<- *types.Response) {
 	var count int
 	var bufReader = bufio.NewReader(conn)
+
+	defer func() {
+		// make sure to recover from any app-related panics to allow proper socket cleanup
+		r := recover()
+		if r != nil {
+			closeConn <- fmt.Errorf("recovered from panic: %v", r)
+			s.appMtx.Unlock()
+		}
+	}()
+
 	for {
 
 		var req = &types.Request{}
@@ -154,7 +164,7 @@ func (s *SocketServer) handleRequests(closeConn chan error, conn net.Conn, respo
 			if err == io.EOF {
 				closeConn <- err
 			} else {
-				closeConn <- fmt.Errorf("Error reading message: %v", err.Error())
+				closeConn <- fmt.Errorf("error reading message: %v", err)
 			}
 			return
 		}
diff --git a/p2p/pex/pex_reactor.go b/p2p/pex/pex_reactor.go
index eabbc4d61..e0d7c0d72 100644
--- a/p2p/pex/pex_reactor.go
+++ b/p2p/pex/pex_reactor.go
@@ -340,6 +340,15 @@ func (r *PEXReactor) ReceiveAddrs(addrs []*p2p.NetAddress, src Peer) error {
 	if err != nil {
 		return err
 	}
+
+	srcIsSeed := false
+	for _, seedAddr := range r.seedAddrs {
+		if seedAddr.Equals(srcAddr) {
+			srcIsSeed = true
+			break
+		}
+	}
+
 	for _, netAddr := range addrs {
 		// Validate netAddr. Disconnect from a peer if it sends us invalid data.
 		if netAddr == nil {
@@ -365,13 +374,23 @@ func (r *PEXReactor) ReceiveAddrs(addrs []*p2p.NetAddress, src Peer) error {
 		}
 
 		// If this address came from a seed node, try to connect to it without
-		// waiting.
-		for _, seedAddr := range r.seedAddrs {
-			if seedAddr.Equals(srcAddr) {
-				r.ensurePeers()
-			}
+		// waiting (#2093)
+		if srcIsSeed {
+			r.Logger.Info("Will dial address, which came from seed", "addr", netAddr, "seed", srcAddr)
+			go func(addr *p2p.NetAddress) {
+				err := r.dialPeer(addr)
+				if err != nil {
+					switch err.(type) {
+					case errMaxAttemptsToDial, errTooEarlyToDial:
+						r.Logger.Debug(err.Error(), "addr", addr)
+					default:
+						r.Logger.Error(err.Error(), "addr", addr)
+					}
+				}
+			}(netAddr)
 		}
 	}
+
 	return nil
 }