diff --git a/i2rt/motor_drivers/dm_driver.py b/i2rt/motor_drivers/dm_driver.py
index 1ef69541..7048e8cc 100644
--- a/i2rt/motor_drivers/dm_driver.py
+++ b/i2rt/motor_drivers/dm_driver.py
@@ -532,8 +532,8 @@ def start_thread(self) -> None:
         if self.start_thread_flag:
             return
         logging.info("starting separate thread for control loop")
-        thread = threading.Thread(target=self._set_torques_and_update_state)
-        thread.start()
+        self._control_thread = threading.Thread(target=self._set_torques_and_update_state)
+        self._control_thread.start()
         self.start_thread_flag = True
         time.sleep(0.1)
         while self.state is None:
@@ -748,6 +748,8 @@ def get_same_bus_device_states(self) -> Any:
 
     def close(self) -> None:
         self.running = False
+        if hasattr(self, "_control_thread") and self._control_thread.is_alive():
+            self._control_thread.join(timeout=2.0)
         self.motor_interface.close()