diff --git a/.travis.yml b/.travis.yml
index 8416fa138..bd0fd929b 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -54,7 +54,7 @@ matrix:
         - cd ..
         # Run Python linting, ignore dict vs {} (C408), others are defaults
         - flake8 --exclude=python/ray/core/src/common/flatbuffers_ep-prefix/,python/ray/core/generated/,src/common/format/,doc/source/conf.py,python/ray/cloudpickle/ --ignore=C408,E121,E123,E126,E226,E24,E704,W503,W504
-        - .travis/yapf.sh --all
+        - .travis/format.sh --all
 
     - os: linux
       dist: trusty
@@ -185,6 +185,7 @@ install:
   - ./src/ray/raylet/lineage_cache_test
   - ./src/ray/raylet/task_dependency_manager_test
   - ./src/ray/raylet/reconstruction_policy_test
+  - ./src/ray/raylet/client_connection_test
   - ./src/ray/util/logging_test --gtest_filter=PrintLogTest*
   - ./src/ray/util/signal_test
 
diff --git a/.travis/yapf.sh b/.travis/format.sh
similarity index 83%
rename from .travis/yapf.sh
rename to .travis/format.sh
index d90aec895..ca92d5196 100755
--- a/.travis/yapf.sh
+++ b/.travis/format.sh
@@ -1,4 +1,6 @@
 #!/usr/bin/env bash
+# YAPF + Clang formatter (if installed). This script formats all changed files from the last mergebase.
+# You are encouraged to run this locally before pushing changes for review.
 
 # Cause the script to exit if a single command fails
 set -eo pipefail
@@ -51,6 +53,13 @@ format_changed() {
         git diff --name-only --diff-filter=ACM "$MERGEBASE" -- '*.py' | xargs -P 5 \
              yapf --in-place "${YAPF_EXCLUDES[@]}" "${YAPF_FLAGS[@]}"
     fi
+
+    if which clang-format >/dev/null; then
+        if ! git diff --diff-filter=ACM --quiet --exit-code "$MERGEBASE" -- '*.cc' '*.h' &>/dev/null; then
+            git diff --name-only --diff-filter=ACM "$MERGEBASE" -- '*.cc' '*.h' | xargs -P 5 \
+                 clang-format -i
+        fi
+    fi
 }
 
 # Format all files, and print the diff to stdout for travis.
diff --git a/src/ray/common/client_connection.cc b/src/ray/common/client_connection.cc
index eaa479429..3347d1cfd 100644
--- a/src/ray/common/client_connection.cc
+++ b/src/ray/common/client_connection.cc
@@ -1,5 +1,6 @@
 #include "client_connection.h"
 
+#include <stdio.h>
 #include <boost/bind.hpp>
 
 #include "common.h"
@@ -18,9 +19,19 @@ ray::Status TcpConnect(boost::asio::ip::tcp::socket &socket,
   return boost_to_ray_status(error);
 }
 
+template <class T>
+std::shared_ptr<ServerConnection<T>> ServerConnection<T>::Create(
+    boost::asio::basic_stream_socket<T> &&socket) {
+  std::shared_ptr<ServerConnection<T>> self(new ServerConnection(std::move(socket)));
+  return self;
+}
+
 template <class T>
 ServerConnection<T>::ServerConnection(boost::asio::basic_stream_socket<T> &&socket)
-    : socket_(std::move(socket)) {}
+    : socket_(std::move(socket)),
+      async_write_max_messages_(1),
+      async_write_queue_(),
+      async_write_in_flight_(false) {}
 
 template <class T>
 Status ServerConnection<T>::WriteBuffer(
@@ -78,11 +89,80 @@ ray::Status ServerConnection<T>::WriteMessage(int64_t type, int64_t length,
   message_buffers.push_back(boost::asio::buffer(&type, sizeof(type)));
   message_buffers.push_back(boost::asio::buffer(&length, sizeof(length)));
   message_buffers.push_back(boost::asio::buffer(message, length));
-  // Write the message and then wait for more messages.
-  // TODO(swang): Does this need to be an async write?
   return WriteBuffer(message_buffers);
 }
 
+template <class T>
+void ServerConnection<T>::WriteMessageAsync(
+    int64_t type, int64_t length, const uint8_t *message,
+    const std::function<void(const ray::Status &)> &handler) {
+  auto write_buffer = std::unique_ptr<AsyncWriteBuffer>(new AsyncWriteBuffer());
+  write_buffer->write_version = RayConfig::instance().ray_protocol_version();
+  write_buffer->write_type = type;
+  write_buffer->write_length = length;
+  write_buffer->write_message.resize(length);
+  write_buffer->write_message.assign(message, message + length);
+  write_buffer->handler = handler;
+
+  auto size = async_write_queue_.size();
+  auto size_is_power_of_two = (size & (size - 1)) == 0;
+  if (size > 100 && size_is_power_of_two) {
+    RAY_LOG(WARNING) << "ServerConnection has " << size << " buffered async writes";
+  }
+
+  async_write_queue_.push_back(std::move(write_buffer));
+
+  if (!async_write_in_flight_) {
+    DoAsyncWrites();
+  }
+}
+
+template <class T>
+void ServerConnection<T>::DoAsyncWrites() {
+  // Make sure we were not writing to the socket.
+  RAY_CHECK(!async_write_in_flight_);
+  async_write_in_flight_ = true;
+
+  // Do an async write of everything currently in the queue to the socket.
+  std::vector<boost::asio::const_buffer> message_buffers;
+  int num_messages = 0;
+  for (const auto &write_buffer : async_write_queue_) {
+    message_buffers.push_back(boost::asio::buffer(&write_buffer->write_version,
+                                                  sizeof(write_buffer->write_version)));
+    message_buffers.push_back(
+        boost::asio::buffer(&write_buffer->write_type, sizeof(write_buffer->write_type)));
+    message_buffers.push_back(boost::asio::buffer(&write_buffer->write_length,
+                                                  sizeof(write_buffer->write_length)));
+    message_buffers.push_back(boost::asio::buffer(write_buffer->write_message));
+    num_messages++;
+    if (num_messages >= async_write_max_messages_) {
+      break;
+    }
+  }
+  auto this_ptr = this->shared_from_this();
+  boost::asio::async_write(
+      ServerConnection<T>::socket_, message_buffers,
+      [this, this_ptr, num_messages](const boost::system::error_code &error,
+                                     size_t bytes_transferred) {
+        ray::Status status = ray::Status::OK();
+        if (error.value() != boost::system::errc::errc_t::success) {
+          status = boost_to_ray_status(error);
+        }
+        // Call the handlers for the written messages.
+        for (int i = 0; i < num_messages; i++) {
+          auto write_buffer = std::move(async_write_queue_.front());
+          write_buffer->handler(status);
+          async_write_queue_.pop_front();
+        }
+        // We finished writing, so mark that we're no longer doing an async write.
+        async_write_in_flight_ = false;
+        // If there is more to write, try to write the rest.
+        if (!async_write_queue_.empty()) {
+          DoAsyncWrites();
+        }
+      });
+}
+
 template <class T>
 std::shared_ptr<ClientConnection<T>> ClientConnection<T>::Create(
     ClientHandler<T> &client_handler, MessageHandler<T> &message_handler,
@@ -122,8 +202,8 @@ void ClientConnection<T>::ProcessMessages() {
   header.push_back(boost::asio::buffer(&read_length_, sizeof(read_length_)));
   boost::asio::async_read(
       ServerConnection<T>::socket_, header,
-      boost::bind(&ClientConnection<T>::ProcessMessageHeader, this->shared_from_this(),
-                  boost::asio::placeholders::error));
+      boost::bind(&ClientConnection<T>::ProcessMessageHeader,
+                  shared_ClientConnection_from_this(), boost::asio::placeholders::error));
 }
 
 template <class T>
@@ -143,8 +223,8 @@ void ClientConnection<T>::ProcessMessageHeader(const boost::system::error_code &
   // Wait for the message to be read.
   boost::asio::async_read(
       ServerConnection<T>::socket_, boost::asio::buffer(read_message_),
-      boost::bind(&ClientConnection<T>::ProcessMessage, this->shared_from_this(),
-                  boost::asio::placeholders::error));
+      boost::bind(&ClientConnection<T>::ProcessMessage,
+                  shared_ClientConnection_from_this(), boost::asio::placeholders::error));
 }
 
 template <class T>
@@ -154,7 +234,7 @@ void ClientConnection<T>::ProcessMessage(const boost::system::error_code &error)
   }
 
   uint64_t start_ms = current_time_ms();
-  message_handler_(this->shared_from_this(), read_type_, read_message_.data());
+  message_handler_(shared_ClientConnection_from_this(), read_type_, read_message_.data());
   uint64_t interval = current_time_ms() - start_ms;
   if (interval > RayConfig::instance().handler_warning_timeout_ms()) {
     RAY_LOG(WARNING) << "[" << debug_label_ << "]ProcessMessage with type " << read_type_
diff --git a/src/ray/common/client_connection.h b/src/ray/common/client_connection.h
index 20b232c33..83c9849d9 100644
--- a/src/ray/common/client_connection.h
+++ b/src/ray/common/client_connection.h
@@ -1,6 +1,7 @@
 #ifndef RAY_COMMON_CLIENT_CONNECTION_H
 #define RAY_COMMON_CLIENT_CONNECTION_H
 
+#include <list>
 #include <memory>
 
 #include <boost/asio.hpp>
@@ -26,10 +27,14 @@ ray::Status TcpConnect(boost::asio::ip::tcp::socket &socket,
 /// A generic type representing a client connection to a server. This typename
 /// can be used to write messages synchronously to the server.
 template <typename T>
-class ServerConnection {
+class ServerConnection : public std::enable_shared_from_this<ServerConnection<T>> {
  public:
-  /// Create a connection to the server.
-  ServerConnection(boost::asio::basic_stream_socket<T> &&socket);
+  /// Allocate a new server connection.
+  ///
+  /// \param socket A reference to the server socket.
+  /// \return std::shared_ptr<ServerConnection>.
+  static std::shared_ptr<ServerConnection<T>> Create(
+      boost::asio::basic_stream_socket<T> &&socket);
 
   /// Write a message to the client.
   ///
@@ -39,6 +44,15 @@ class ServerConnection {
   /// \return Status.
   ray::Status WriteMessage(int64_t type, int64_t length, const uint8_t *message);
 
+  /// Write a message to the client asynchronously.
+  ///
+  /// \param type The message type (e.g., a flatbuffer enum).
+  /// \param length The size in bytes of the message.
+  /// \param message A pointer to the message buffer.
+  /// \param handler A callback to run on write completion.
+  void WriteMessageAsync(int64_t type, int64_t length, const uint8_t *message,
+                         const std::function<void(const ray::Status &)> &handler);
+
   /// Write a buffer to this connection.
   ///
   /// \param buffer The buffer.
@@ -52,9 +66,42 @@ class ServerConnection {
   void ReadBuffer(const std::vector<boost::asio::mutable_buffer> &buffer,
                   boost::system::error_code &ec);
 
+  /// Shuts down socket for this connection.
+  void Close() {
+    boost::system::error_code ec;
+    socket_.close(ec);
+  }
+
  protected:
+  /// A private constructor for a server connection.
+  ServerConnection(boost::asio::basic_stream_socket<T> &&socket);
+
+  /// A message that is queued for writing asynchronously.
+  struct AsyncWriteBuffer {
+    int64_t write_version;
+    int64_t write_type;
+    uint64_t write_length;
+    std::vector<uint8_t> write_message;
+    std::function<void(const ray::Status &)> handler;
+  };
+
   /// The socket connection to the server.
   boost::asio::basic_stream_socket<T> socket_;
+
+  /// Max number of messages to write out at once.
+  const int async_write_max_messages_;
+
+  /// List of pending messages to write.
+  std::list<std::unique_ptr<AsyncWriteBuffer>> async_write_queue_;
+
+  /// Whether we are in the middle of an async write.
+  bool async_write_in_flight_;
+
+ private:
+  /// Asynchronously flushes the write queue. While async writes are running, the flag
+  /// async_write_in_flight_ will be set. This should only be called when no async writes
+  /// are currently in flight.
+  void DoAsyncWrites();
 };
 
 template <typename T>
@@ -72,9 +119,10 @@ using MessageHandler =
 /// writing messages to the client, like in ServerConnection, this typename can
 /// also be used to process messages asynchronously from client.
 template <typename T>
-class ClientConnection : public ServerConnection<T>,
-                         public std::enable_shared_from_this<ClientConnection<T>> {
+class ClientConnection : public ServerConnection<T> {
  public:
+  using std::enable_shared_from_this<ServerConnection<T>>::shared_from_this;
+
   /// Allocate a new node client connection.
   ///
   /// \param new_client_handler A reference to the client handler.
@@ -85,6 +133,10 @@ class ClientConnection : public ServerConnection<T>,
       ClientHandler<T> &new_client_handler, MessageHandler<T> &message_handler,
       boost::asio::basic_stream_socket<T> &&socket, const std::string &debug_label);
 
+  std::shared_ptr<ClientConnection<T>> shared_ClientConnection_from_this() {
+    return std::static_pointer_cast<ClientConnection<T>>(shared_from_this());
+  }
+
   /// \return The ClientID of the remote client.
   const ClientID &GetClientID();
 
diff --git a/src/ray/object_manager/object_manager.cc b/src/ray/object_manager/object_manager.cc
index e6674fbf1..84be11066 100644
--- a/src/ray/object_manager/object_manager.cc
+++ b/src/ray/object_manager/object_manager.cc
@@ -266,35 +266,31 @@ void ObjectManager::PullEstablishConnection(const ObjectID &object_id,
           }
           connection_pool_.RegisterSender(ConnectionPool::ConnectionType::MESSAGE,
                                           client_id, async_conn);
-          Status pull_send_status = PullSendRequest(object_id, async_conn);
-          if (!pull_send_status.ok()) {
-            CheckIOError(pull_send_status, "Pull");
-          }
+          PullSendRequest(object_id, async_conn);
         },
         []() {
           RAY_LOG(ERROR) << "Failed to establish connection with remote object manager.";
         });
   } else {
-    status = PullSendRequest(object_id, conn);
-    if (!status.ok()) {
-      CheckIOError(status, "Pull");
-    }
+    PullSendRequest(object_id, conn);
   }
 }
 
-ray::Status ObjectManager::PullSendRequest(const ObjectID &object_id,
-                                           std::shared_ptr<SenderConnection> &conn) {
+void ObjectManager::PullSendRequest(const ObjectID &object_id,
+                                    std::shared_ptr<SenderConnection> &conn) {
   flatbuffers::FlatBufferBuilder fbb;
   auto message = object_manager_protocol::CreatePullRequestMessage(
       fbb, fbb.CreateString(client_id_.binary()), fbb.CreateString(object_id.binary()));
   fbb.Finish(message);
-  Status status = conn->WriteMessage(
+  conn->WriteMessageAsync(
       static_cast<int64_t>(object_manager_protocol::MessageType::PullRequest),
-      fbb.GetSize(), fbb.GetBufferPointer());
-  if (status.ok()) {
-    connection_pool_.ReleaseSender(ConnectionPool::ConnectionType::MESSAGE, conn);
-  }
-  return status;
+      fbb.GetSize(), fbb.GetBufferPointer(), [this, conn](ray::Status status) mutable {
+        if (status.ok()) {
+          connection_pool_.ReleaseSender(ConnectionPool::ConnectionType::MESSAGE, conn);
+        } else {
+          CheckIOError(status, "Pull");
+        }
+      });
 }
 
 void ObjectManager::HandlePushTaskTimeout(const ObjectID &object_id,
diff --git a/src/ray/object_manager/object_manager.h b/src/ray/object_manager/object_manager.h
index 11b5d7a6c..ef5b98a03 100644
--- a/src/ray/object_manager/object_manager.h
+++ b/src/ray/object_manager/object_manager.h
@@ -245,10 +245,10 @@ class ObjectManager : public ObjectManagerInterface {
   /// Executes on main_service_ thread.
   void PullEstablishConnection(const ObjectID &object_id, const ClientID &client_id);
 
-  /// Synchronously send a pull request via remote object manager connection.
+  /// Asynchronously send a pull request via remote object manager connection.
   /// Executes on main_service_ thread.
-  ray::Status PullSendRequest(const ObjectID &object_id,
-                              std::shared_ptr<SenderConnection> &conn);
+  void PullSendRequest(const ObjectID &object_id,
+                       std::shared_ptr<SenderConnection> &conn);
 
   std::shared_ptr<SenderConnection> CreateSenderConnection(
       ConnectionPool::ConnectionType type, RemoteConnectionInfo info);
diff --git a/src/ray/object_manager/object_manager_client_connection.cc b/src/ray/object_manager/object_manager_client_connection.cc
index c612e1703..dadfd72ce 100644
--- a/src/ray/object_manager/object_manager_client_connection.cc
+++ b/src/ray/object_manager/object_manager_client_connection.cc
@@ -11,7 +11,7 @@ std::shared_ptr<SenderConnection> SenderConnection::Create(
   Status status = TcpConnect(socket, ip, port);
   if (status.ok()) {
     std::shared_ptr<TcpServerConnection> conn =
-        std::make_shared<TcpServerConnection>(std::move(socket));
+        TcpServerConnection::Create(std::move(socket));
     return std::make_shared<SenderConnection>(std::move(conn), client_id);
   } else {
     return nullptr;
diff --git a/src/ray/object_manager/object_manager_client_connection.h b/src/ray/object_manager/object_manager_client_connection.h
index 1c8661b0d..b3a03102a 100644
--- a/src/ray/object_manager/object_manager_client_connection.h
+++ b/src/ray/object_manager/object_manager_client_connection.h
@@ -16,6 +16,7 @@
 
 namespace ray {
 
+// TODO(ekl) this class can be replaced with a plain ClientConnection
 class SenderConnection : public boost::enable_shared_from_this<SenderConnection> {
  public:
   /// Create a connection for sending data to other object managers.
@@ -44,6 +45,17 @@ class SenderConnection : public boost::enable_shared_from_this<SenderConnection>
     return conn_->WriteMessage(type, length, message);
   }
 
+  /// Write a message to the client asynchronously.
+  ///
+  /// \param type The message type (e.g., a flatbuffer enum).
+  /// \param length The size in bytes of the message.
+  /// \param message A pointer to the message buffer.
+  /// \param handler A callback to run on write completion.
+  void WriteMessageAsync(int64_t type, int64_t length, const uint8_t *message,
+                         const std::function<void(const ray::Status &)> &handler) {
+    conn_->WriteMessageAsync(type, length, message, handler);
+  }
+
   /// Write a buffer to this connection.
   ///
   /// \param buffer The buffer.
diff --git a/src/ray/raylet/CMakeLists.txt b/src/ray/raylet/CMakeLists.txt
index 79233965a..5b580e4a2 100644
--- a/src/ray/raylet/CMakeLists.txt
+++ b/src/ray/raylet/CMakeLists.txt
@@ -32,6 +32,7 @@ ADD_RAY_TEST(object_manager_integration_test STATIC_LINK_LIBS ray_static ${PLASM
 
 ADD_RAY_TEST(worker_pool_test STATIC_LINK_LIBS ray_static ${PLASMA_STATIC_LIB} ${ARROW_STATIC_LIB} gtest gtest_main gmock_main pthread ${Boost_SYSTEM_LIBRARY})
 
+ADD_RAY_TEST(client_connection_test STATIC_LINK_LIBS ray_static gtest gtest_main gmock_main pthread ${Boost_SYSTEM_LIBRARY})
 ADD_RAY_TEST(task_test STATIC_LINK_LIBS ray_static gtest gtest_main gmock_main pthread ${Boost_SYSTEM_LIBRARY})
 ADD_RAY_TEST(lineage_cache_test STATIC_LINK_LIBS ray_static gtest gtest_main gmock_main pthread ${Boost_SYSTEM_LIBRARY})
 ADD_RAY_TEST(task_dependency_manager_test STATIC_LINK_LIBS ray_static gtest gtest_main gmock_main pthread ${Boost_SYSTEM_LIBRARY})
diff --git a/src/ray/raylet/client_connection_test.cc b/src/ray/raylet/client_connection_test.cc
new file mode 100644
index 000000000..a68a6535c
--- /dev/null
+++ b/src/ray/raylet/client_connection_test.cc
@@ -0,0 +1,155 @@
+#include <list>
+#include <memory>
+
+#include <boost/asio.hpp>
+#include <boost/asio/error.hpp>
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+#include "ray/common/client_connection.h"
+
+namespace ray {
+namespace raylet {
+
+class ClientConnectionTest : public ::testing::Test {
+ public:
+  ClientConnectionTest() : io_service_(), in_(io_service_), out_(io_service_) {
+    boost::asio::local::connect_pair(in_, out_);
+  }
+
+ protected:
+  boost::asio::io_service io_service_;
+  boost::asio::local::stream_protocol::socket in_;
+  boost::asio::local::stream_protocol::socket out_;
+};
+
+TEST_F(ClientConnectionTest, SimpleSyncWrite) {
+  const uint8_t arr[5] = {1, 2, 3, 4, 5};
+  int num_messages = 0;
+
+  ClientHandler<boost::asio::local::stream_protocol> client_handler =
+      [](LocalClientConnection &client) {};
+
+  MessageHandler<boost::asio::local::stream_protocol> message_handler =
+      [&arr, &num_messages](std::shared_ptr<LocalClientConnection> client,
+                            int64_t message_type, const uint8_t *message) {
+        ASSERT_TRUE(!std::memcmp(arr, message, 5));
+        num_messages += 1;
+      };
+
+  auto conn1 = LocalClientConnection::Create(client_handler, message_handler,
+                                             std::move(in_), "conn1");
+
+  auto conn2 = LocalClientConnection::Create(client_handler, message_handler,
+                                             std::move(out_), "conn2");
+
+  RAY_CHECK_OK(conn1->WriteMessage(0, 5, arr));
+  RAY_CHECK_OK(conn2->WriteMessage(0, 5, arr));
+  conn1->ProcessMessages();
+  conn2->ProcessMessages();
+  io_service_.run();
+  ASSERT_EQ(num_messages, 2);
+}
+
+TEST_F(ClientConnectionTest, SimpleAsyncWrite) {
+  const uint8_t msg1[5] = {1, 2, 3, 4, 5};
+  const uint8_t msg2[5] = {4, 4, 4, 4, 4};
+  const uint8_t msg3[5] = {8, 8, 8, 8, 8};
+  int num_messages = 0;
+
+  ClientHandler<boost::asio::local::stream_protocol> client_handler =
+      [](LocalClientConnection &client) {};
+
+  MessageHandler<boost::asio::local::stream_protocol> noop_handler = [](
+      std::shared_ptr<LocalClientConnection> client, int64_t message_type,
+      const uint8_t *message) {};
+
+  std::shared_ptr<LocalClientConnection> reader = NULL;
+
+  MessageHandler<boost::asio::local::stream_protocol> message_handler =
+      [&msg1, &msg2, &msg3, &num_messages, &reader](
+          std::shared_ptr<LocalClientConnection> client, int64_t message_type,
+          const uint8_t *message) {
+        if (num_messages == 0) {
+          ASSERT_TRUE(!std::memcmp(msg1, message, 5));
+        } else if (num_messages == 1) {
+          ASSERT_TRUE(!std::memcmp(msg2, message, 5));
+        } else {
+          ASSERT_TRUE(!std::memcmp(msg3, message, 5));
+        }
+        num_messages += 1;
+        if (num_messages < 3) {
+          reader->ProcessMessages();
+        }
+      };
+
+  auto writer = LocalClientConnection::Create(client_handler, noop_handler,
+                                              std::move(in_), "writer");
+
+  reader = LocalClientConnection::Create(client_handler, message_handler, std::move(out_),
+                                         "reader");
+
+  std::function<void(const ray::Status &)> callback = [](const ray::Status &status) {
+    RAY_CHECK_OK(status);
+  };
+
+  writer->WriteMessageAsync(0, 5, msg1, callback);
+  writer->WriteMessageAsync(0, 5, msg2, callback);
+  writer->WriteMessageAsync(0, 5, msg3, callback);
+  reader->ProcessMessages();
+  io_service_.run();
+  ASSERT_EQ(num_messages, 3);
+}
+
+TEST_F(ClientConnectionTest, SimpleAsyncError) {
+  const uint8_t msg1[5] = {1, 2, 3, 4, 5};
+
+  ClientHandler<boost::asio::local::stream_protocol> client_handler =
+      [](LocalClientConnection &client) {};
+
+  MessageHandler<boost::asio::local::stream_protocol> noop_handler = [](
+      std::shared_ptr<LocalClientConnection> client, int64_t message_type,
+      const uint8_t *message) {};
+
+  auto writer = LocalClientConnection::Create(client_handler, noop_handler,
+                                              std::move(in_), "writer");
+
+  std::function<void(const ray::Status &)> callback = [](const ray::Status &status) {
+    ASSERT_TRUE(!status.ok());
+  };
+
+  writer->Close();
+  writer->WriteMessageAsync(0, 5, msg1, callback);
+  io_service_.run();
+}
+
+TEST_F(ClientConnectionTest, CallbackWithSharedRefDoesNotLeakConnection) {
+  const uint8_t msg1[5] = {1, 2, 3, 4, 5};
+
+  ClientHandler<boost::asio::local::stream_protocol> client_handler =
+      [](LocalClientConnection &client) {};
+
+  MessageHandler<boost::asio::local::stream_protocol> noop_handler = [](
+      std::shared_ptr<LocalClientConnection> client, int64_t message_type,
+      const uint8_t *message) {};
+
+  auto writer = LocalClientConnection::Create(client_handler, noop_handler,
+                                              std::move(in_), "writer");
+
+  std::function<void(const ray::Status &)> callback =
+      [writer](const ray::Status &status) {
+        static_cast<void>(writer);
+        ASSERT_TRUE(status.ok());
+      };
+  writer->WriteMessageAsync(0, 5, msg1, callback);
+  io_service_.run();
+}
+
+}  // namespace raylet
+
+}  // namespace ray
+
+int main(int argc, char **argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/src/ray/raylet/node_manager.cc b/src/ray/raylet/node_manager.cc
index c4e75dbb8..be1974468 100644
--- a/src/ray/raylet/node_manager.cc
+++ b/src/ray/raylet/node_manager.cc
@@ -359,7 +359,7 @@ void NodeManager::ClientAdded(const ClientTableDataT &client_data) {
   }
 
   // The client is connected.
-  auto server_conn = TcpServerConnection(std::move(socket));
+  auto server_conn = TcpServerConnection::Create(std::move(socket));
   remote_server_connections_.emplace(client_id, std::move(server_conn));
 
   ResourceSet resources_total(client_data.resources_total_label,
@@ -1304,56 +1304,59 @@ void NodeManager::AssignTask(Task &task) {
   auto message = protocol::CreateGetTaskReply(fbb, spec.ToFlatbuffer(fbb),
                                               fbb.CreateVector(resource_id_set_flatbuf));
   fbb.Finish(message);
-  auto status = worker->Connection()->WriteMessage(
+  worker->Connection()->WriteMessageAsync(
       static_cast<int64_t>(protocol::MessageType::ExecuteTask), fbb.GetSize(),
-      fbb.GetBufferPointer());
-  if (status.ok()) {
-    // We successfully assigned the task to the worker.
-    worker->AssignTaskId(spec.TaskId());
-    worker->AssignDriverId(spec.DriverId());
-    // If the task was an actor task, then record this execution to guarantee
-    // consistency in the case of reconstruction.
-    if (spec.IsActorTask()) {
-      auto actor_entry = actor_registry_.find(spec.ActorId());
-      RAY_CHECK(actor_entry != actor_registry_.end());
-      auto execution_dependency = actor_entry->second.GetExecutionDependency();
-      // The execution dependency is initialized to the actor creation task's
-      // return value, and is subsequently updated to the assigned tasks'
-      // return values, so it should never be nil.
-      RAY_CHECK(!execution_dependency.is_nil());
-      // Update the task's execution dependencies to reflect the actual
-      // execution order, to support deterministic reconstruction.
-      // NOTE(swang): The update of an actor task's execution dependencies is
-      // performed asynchronously. This means that if this node manager dies,
-      // we may lose updates that are in flight to the task table. We only
-      // guarantee deterministic reconstruction ordering for tasks whose
-      // updates are reflected in the task table.
-      task.SetExecutionDependencies({execution_dependency});
-      // Extend the frontier to include the executing task.
-      actor_entry->second.ExtendFrontier(spec.ActorHandleId(), spec.ActorDummyObject());
-    }
-    // We started running the task, so the task is ready to write to GCS.
-    if (!lineage_cache_.AddReadyTask(task)) {
-      RAY_LOG(WARNING)
-          << "Task " << spec.TaskId()
-          << " already in lineage cache. This is most likely due to reconstruction.";
-    }
-    // Mark the task as running.
-    // (See design_docs/task_states.rst for the state transition diagram.)
-    local_queues_.QueueRunningTasks(std::vector<Task>({task}));
-    // Notify the task dependency manager that we no longer need this task's
-    // object dependencies.
-    task_dependency_manager_.UnsubscribeDependencies(spec.TaskId());
-  } else {
-    RAY_LOG(WARNING) << "Failed to send task to worker, disconnecting client";
-    // We failed to send the task to the worker, so disconnect the worker.
-    ProcessDisconnectClientMessage(worker->Connection());
-    // Queue this task for future assignment. The task will be assigned to a
-    // worker once one becomes available.
-    // (See design_docs/task_states.rst for the state transition diagram.)
-    local_queues_.QueueReadyTasks(std::vector<Task>({task}));
-    DispatchTasks();
-  }
+      fbb.GetBufferPointer(), [this, worker, task](ray::Status status) mutable {
+        if (status.ok()) {
+          auto spec = task.GetTaskSpecification();
+          // We successfully assigned the task to the worker.
+          worker->AssignTaskId(spec.TaskId());
+          worker->AssignDriverId(spec.DriverId());
+          // If the task was an actor task, then record this execution to guarantee
+          // consistency in the case of reconstruction.
+          if (spec.IsActorTask()) {
+            auto actor_entry = actor_registry_.find(spec.ActorId());
+            RAY_CHECK(actor_entry != actor_registry_.end());
+            auto execution_dependency = actor_entry->second.GetExecutionDependency();
+            // The execution dependency is initialized to the actor creation task's
+            // return value, and is subsequently updated to the assigned tasks'
+            // return values, so it should never be nil.
+            RAY_CHECK(!execution_dependency.is_nil());
+            // Update the task's execution dependencies to reflect the actual
+            // execution order, to support deterministic reconstruction.
+            // NOTE(swang): The update of an actor task's execution dependencies is
+            // performed asynchronously. This means that if this node manager dies,
+            // we may lose updates that are in flight to the task table. We only
+            // guarantee deterministic reconstruction ordering for tasks whose
+            // updates are reflected in the task table.
+            task.SetExecutionDependencies({execution_dependency});
+            // Extend the frontier to include the executing task.
+            actor_entry->second.ExtendFrontier(spec.ActorHandleId(),
+                                               spec.ActorDummyObject());
+          }
+          // We started running the task, so the task is ready to write to GCS.
+          if (!lineage_cache_.AddReadyTask(task)) {
+            RAY_LOG(WARNING) << "Task " << spec.TaskId() << " already in lineage cache. "
+                                                            "This is most likely due to "
+                                                            "reconstruction.";
+          }
+          // Mark the task as running.
+          // (See design_docs/task_states.rst for the state transition diagram.)
+          local_queues_.QueueRunningTasks(std::vector<Task>({task}));
+          // Notify the task dependency manager that we no longer need this task's
+          // object dependencies.
+          task_dependency_manager_.UnsubscribeDependencies(spec.TaskId());
+        } else {
+          RAY_LOG(WARNING) << "Failed to send task to worker, disconnecting client";
+          // We failed to send the task to the worker, so disconnect the worker.
+          ProcessDisconnectClientMessage(worker->Connection());
+          // Queue this task for future assignment. The task will be assigned to a
+          // worker once one becomes available.
+          // (See design_docs/task_states.rst for the state transition diagram.)
+          local_queues_.QueueReadyTasks(std::vector<Task>({task}));
+          DispatchTasks();
+        }
+      });
 }
 
 void NodeManager::FinishAssignedTask(Worker &worker) {
@@ -1522,10 +1525,10 @@ void NodeManager::ForwardTaskOrResubmit(const Task &task,
                                         const ClientID &node_manager_id) {
   /// TODO(rkn): Should we check that the node manager is remote and not local?
   /// TODO(rkn): Should we check if the remote node manager is known to be dead?
-  const TaskID task_id = task.GetTaskSpecification().TaskId();
-
   // Attempt to forward the task.
-  if (!ForwardTask(task, node_manager_id).ok()) {
+  ForwardTask(task, node_manager_id, [this, task, node_manager_id](ray::Status error) {
+    const TaskID task_id = task.GetTaskSpecification().TaskId();
+
     RAY_LOG(INFO) << "Failed to forward task " << task_id << " to node manager "
                   << node_manager_id;
     // Mark the failed task as pending to let other raylets know that we still
@@ -1564,10 +1567,11 @@ void NodeManager::ForwardTaskOrResubmit(const Task &task,
       ScheduleTasks(cluster_resource_map_);
       DispatchTasks();
     }
-  }
+  });
 }
 
-ray::Status NodeManager::ForwardTask(const Task &task, const ClientID &node_id) {
+void NodeManager::ForwardTask(const Task &task, const ClientID &node_id,
+                              const std::function<void(const ray::Status &)> &on_error) {
   const auto &spec = task.GetTaskSpecification();
   auto task_id = spec.TaskId();
 
@@ -1593,49 +1597,53 @@ ray::Status NodeManager::ForwardTask(const Task &task, const ClientID &node_id)
   if (it == remote_server_connections_.end()) {
     // TODO(atumanov): caller must handle failure to ensure tasks are not lost.
     RAY_LOG(INFO) << "No NodeManager connection found for GCS client id " << node_id;
-    return ray::Status::IOError("NodeManager connection not found");
+    on_error(ray::Status::IOError("NodeManager connection not found"));
+    return;
   }
 
   auto &server_conn = it->second;
-  auto status = server_conn.WriteMessage(
+  server_conn->WriteMessageAsync(
       static_cast<int64_t>(protocol::MessageType::ForwardTaskRequest), fbb.GetSize(),
-      fbb.GetBufferPointer());
-  if (status.ok()) {
-    // If we were able to forward the task, remove the forwarded task from the
-    // lineage cache since the receiving node is now responsible for writing
-    // the task to the GCS.
-    if (!lineage_cache_.RemoveWaitingTask(task_id)) {
-      RAY_LOG(WARNING) << "Task " << task_id << " already removed from the lineage "
-                                                "cache. This is most likely due to "
-                                                "reconstruction.";
-    }
-    // Mark as forwarded so that the task and its lineage is not re-forwarded
-    // in the future to the receiving node.
-    lineage_cache_.MarkTaskAsForwarded(task_id, node_id);
-
-    // Notify the task dependency manager that we are no longer responsible
-    // for executing this task.
-    task_dependency_manager_.TaskCanceled(task_id);
-    // Preemptively push any local arguments to the receiving node. For now, we
-    // only do this with actor tasks, since actor tasks must be executed by a
-    // specific process and therefore have affinity to the receiving node.
-    if (spec.IsActorTask()) {
-      // Iterate through the object's arguments. NOTE(swang): We do not include
-      // the execution dependencies here since those cannot be transferred
-      // between nodes.
-      for (int i = 0; i < spec.NumArgs(); ++i) {
-        int count = spec.ArgIdCount(i);
-        for (int j = 0; j < count; j++) {
-          ObjectID argument_id = spec.ArgId(i, j);
-          // If the argument is local, then push it to the receiving node.
-          if (task_dependency_manager_.CheckObjectLocal(argument_id)) {
-            object_manager_.Push(argument_id, node_id);
+      fbb.GetBufferPointer(),
+      [this, on_error, task_id, node_id, spec](ray::Status status) {
+        if (status.ok()) {
+          // If we were able to forward the task, remove the forwarded task from the
+          // lineage cache since the receiving node is now responsible for writing
+          // the task to the GCS.
+          if (!lineage_cache_.RemoveWaitingTask(task_id)) {
+            RAY_LOG(WARNING) << "Task " << task_id << " already removed from the lineage "
+                                                      "cache. This is most likely due to "
+                                                      "reconstruction.";
           }
+          // Mark as forwarded so that the task and its lineage is not re-forwarded
+          // in the future to the receiving node.
+          lineage_cache_.MarkTaskAsForwarded(task_id, node_id);
+
+          // Notify the task dependency manager that we are no longer responsible
+          // for executing this task.
+          task_dependency_manager_.TaskCanceled(task_id);
+          // Preemptively push any local arguments to the receiving node. For now, we
+          // only do this with actor tasks, since actor tasks must be executed by a
+          // specific process and therefore have affinity to the receiving node.
+          if (spec.IsActorTask()) {
+            // Iterate through the object's arguments. NOTE(swang): We do not include
+            // the execution dependencies here since those cannot be transferred
+            // between nodes.
+            for (int i = 0; i < spec.NumArgs(); ++i) {
+              int count = spec.ArgIdCount(i);
+              for (int j = 0; j < count; j++) {
+                ObjectID argument_id = spec.ArgId(i, j);
+                // If the argument is local, then push it to the receiving node.
+                if (task_dependency_manager_.CheckObjectLocal(argument_id)) {
+                  object_manager_.Push(argument_id, node_id);
+                }
+              }
+            }
+          }
+        } else {
+          on_error(status);
         }
-      }
-    }
-  }
-  return status;
+      });
 }
 
 }  // namespace raylet
diff --git a/src/ray/raylet/node_manager.h b/src/ray/raylet/node_manager.h
index e3d2ca141..2e5d7605f 100644
--- a/src/ray/raylet/node_manager.h
+++ b/src/ray/raylet/node_manager.h
@@ -174,10 +174,10 @@ class NodeManager {
   ///
   /// \param task The task to forward.
   /// \param node_id The ID of the node to forward the task to.
-  /// \return A status indicating whether the forward succeeded or not. Note
-  /// that a status of OK is not a reliable indicator that the forward succeeded
-  /// or even that the remote node is still alive.
-  ray::Status ForwardTask(const Task &task, const ClientID &node_id);
+  /// \param on_error Callback on run on non-ok status.
+  void ForwardTask(const Task &task, const ClientID &node_id,
+                   const std::function<void(const ray::Status &)> &on_error);
+
   /// Dispatch locally scheduled tasks. This attempts the transition from "scheduled" to
   /// "running" task state.
   void DispatchTasks();
@@ -352,7 +352,8 @@ class NodeManager {
   /// The lineage cache for the GCS object and task tables.
   LineageCache lineage_cache_;
   std::vector<ClientID> remote_clients_;
-  std::unordered_map<ClientID, TcpServerConnection> remote_server_connections_;
+  std::unordered_map<ClientID, std::shared_ptr<TcpServerConnection>>
+      remote_server_connections_;
   /// A mapping from actor ID to registration information about that actor
   /// (including which node manager owns it).
   std::unordered_map<ActorID, ActorRegistration> actor_registry_;