diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index c79fdae60..242e9c365 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -202,16 +202,29 @@ impl<F: Future + 'static> TaskStorage<F> {
         }
     }
 
+    unsafe fn poll_to_despawn(p: TaskRef) {
+        // The task's future has already been dropped, we just mark it as `!SPAWNED`.
+        let this = &*p.as_ptr().cast::<TaskStorage<F>>();
+        this.raw.state.despawn();
+    }
+
     unsafe fn poll(p: TaskRef) {
-        let this = &*(p.as_ptr() as *const TaskStorage<F>);
+        let this = &*p.as_ptr().cast::<TaskStorage<F>>();
 
         let future = Pin::new_unchecked(this.future.as_mut());
         let waker = waker::from_task(p);
         let mut cx = Context::from_waker(&waker);
         match future.poll(&mut cx) {
             Poll::Ready(_) => {
+                waker.wake_by_ref();
+
+                // As the future has finished and this function will not be called
+                // again, we can safely drop the future here.
                 this.future.drop_in_place();
-                this.raw.state.despawn();
+
+                // We replace the poll_fn with a despawn function, so that the task is cleaned up
+                // when the executor polls it next.
+                this.raw.poll_fn.set(Some(Self::poll_to_despawn));
             }
             Poll::Pending => {}
         }
diff --git a/embassy-executor/src/raw/run_queue_atomics.rs b/embassy-executor/src/raw/run_queue_atomics.rs
index aad90d767..ce511d79a 100644
--- a/embassy-executor/src/raw/run_queue_atomics.rs
+++ b/embassy-executor/src/raw/run_queue_atomics.rs
@@ -81,16 +81,8 @@ impl RunQueue {
             // safety: there are no concurrent accesses to `next`
             next = unsafe { task.header().run_queue_item.next.get() };
 
-            let run_task = task.header().state.run_dequeue();
-
-            if run_task {
-                // If task is not running, ignore it. This can happen in the following scenario:
-                //   - Task gets dequeued, poll starts
-                //   - While task is being polled, it gets woken. It gets placed in the queue.
-                //   - Task poll finishes, returning done=true
-                //   - RUNNING bit is cleared, but the task is already in the queue.
-                on_task(task);
-            }
+            task.header().state.run_dequeue();
+            on_task(task);
         }
     }
 }
diff --git a/embassy-executor/src/raw/run_queue_critical_section.rs b/embassy-executor/src/raw/run_queue_critical_section.rs
index 4f1b2855a..86c4085ed 100644
--- a/embassy-executor/src/raw/run_queue_critical_section.rs
+++ b/embassy-executor/src/raw/run_queue_critical_section.rs
@@ -63,19 +63,12 @@ impl RunQueue {
             // If the task re-enqueues itself, the `next` pointer will get overwritten.
             // Therefore, first read the next pointer, and only then process the task.
 
-            let run_task = critical_section::with(|cs| {
+            critical_section::with(|cs| {
                 next = task.header().run_queue_item.next.borrow(cs).get();
-                task.header().state.run_dequeue(cs)
+                task.header().state.run_dequeue(cs);
             });
 
-            if run_task {
-                // If task is not running, ignore it. This can happen in the following scenario:
-                //   - Task gets dequeued, poll starts
-                //   - While task is being polled, it gets woken. It gets placed in the queue.
-                //   - Task poll finishes, returning done=true
-                //   - RUNNING bit is cleared, but the task is already in the queue.
-                on_task(task);
-            }
+            on_task(task);
         }
     }
 }
diff --git a/embassy-executor/src/raw/state_atomics.rs b/embassy-executor/src/raw/state_atomics.rs
index bdd317b53..b6576bfc2 100644
--- a/embassy-executor/src/raw/state_atomics.rs
+++ b/embassy-executor/src/raw/state_atomics.rs
@@ -52,8 +52,7 @@ impl State {
 
     /// Unmark the task as run-queued. Return whether the task is spawned.
     #[inline(always)]
-    pub fn run_dequeue(&self) -> bool {
-        let state = self.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
-        state & STATE_SPAWNED != 0
+    pub fn run_dequeue(&self) {
+        self.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
     }
 }
diff --git a/embassy-executor/src/raw/state_atomics_arm.rs b/embassy-executor/src/raw/state_atomics_arm.rs
index cbda0d89d..b743dcc2c 100644
--- a/embassy-executor/src/raw/state_atomics_arm.rs
+++ b/embassy-executor/src/raw/state_atomics_arm.rs
@@ -75,11 +75,9 @@ impl State {
 
     /// Unmark the task as run-queued. Return whether the task is spawned.
     #[inline(always)]
-    pub fn run_dequeue(&self) -> bool {
+    pub fn run_dequeue(&self) {
         compiler_fence(Ordering::Release);
 
-        let r = self.spawned.load(Ordering::Relaxed);
         self.run_queued.store(false, Ordering::Relaxed);
-        r
     }
 }
diff --git a/embassy-executor/src/raw/state_critical_section.rs b/embassy-executor/src/raw/state_critical_section.rs
index 4733af278..6b627ff79 100644
--- a/embassy-executor/src/raw/state_critical_section.rs
+++ b/embassy-executor/src/raw/state_critical_section.rs
@@ -67,11 +67,7 @@ impl State {
 
     /// Unmark the task as run-queued. Return whether the task is spawned.
     #[inline(always)]
-    pub fn run_dequeue(&self) -> bool {
-        self.update(|s| {
-            let ok = *s & STATE_SPAWNED != 0;
-            *s &= !STATE_RUN_QUEUED;
-            ok
-        })
+    pub fn run_dequeue(&self, cs: CriticalSection<'_>) {
+        self.update_with_cs(cs, |s| *s &= !STATE_RUN_QUEUED)
     }
 }