diff --git a/rust/system/src/scheduler.rs b/rust/system/src/scheduler.rs
index a0a49a4e9dd..65100f44e50 100644
--- a/rust/system/src/scheduler.rs
+++ b/rust/system/src/scheduler.rs
@@ -1,30 +1,63 @@
 use parking_lot::RwLock;
-use std::fmt::Debug;
-use std::sync::Arc;
+use std::sync::atomic::AtomicU64;
+use std::sync::{Arc, Weak};
 use std::time::Duration;
+use std::{collections::HashMap, fmt::Debug};
 use tokio::select;
 use tracing::Span;
 
 use super::{Component, ComponentContext, Handler, Message};
 
-#[derive(Debug)]
 pub(crate) struct SchedulerTaskHandle {
     join_handle: Option<tokio::task::JoinHandle<()>>,
     cancel: tokio_util::sync::CancellationToken,
 }
 
+impl Debug for SchedulerTaskHandle {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        f.debug_struct("SchedulerTaskHandle").finish()
+    }
+}
+
+#[derive(Copy, Clone, Eq, PartialEq, Hash, Debug)]
+pub(crate) struct TaskId(u64);
+
+pub(crate) struct HandleGuard {
+    weak_handles: Weak<RwLock<HashMap<TaskId, SchedulerTaskHandle>>>,
+    task_id: TaskId,
+}
+
+impl Drop for HandleGuard {
+    fn drop(&mut self) {
+        if let Some(handles) = self.weak_handles.upgrade() {
+            let mut handles = handles.write();
+            handles.remove(&self.task_id);
+        }
+    }
+}
+
 #[derive(Clone, Debug)]
 pub struct Scheduler {
-    handles: Arc<RwLock<Vec<SchedulerTaskHandle>>>,
+    handles: Arc<RwLock<HashMap<TaskId, SchedulerTaskHandle>>>,
+    next_id: Arc<AtomicU64>,
 }
 
 impl Scheduler {
     pub(crate) fn new() -> Scheduler {
         Scheduler {
-            handles: Arc::new(RwLock::new(Vec::new())),
+            handles: Arc::new(RwLock::new(HashMap::new())),
+            next_id: Arc::new(AtomicU64::new(1)),
         }
     }
 
+    /// Allocate the next task ID.
+    fn allocate_id(&self) -> TaskId {
+        let id = self
+            .next_id
+            .fetch_add(1, std::sync::atomic::Ordering::Relaxed);
+        TaskId(id)
+    }
+
     /// Schedule a message to be sent to the component after the specified duration.
     ///
     /// `span_factory` is called immediately before sending the scheduled message to the component.
@@ -40,9 +73,17 @@ impl Scheduler {
         M: Message,
         S: (Fn() -> Option<Span>) + Send + Sync + 'static,
     {
+        let id = self.allocate_id();
+        let handles_weak = Arc::downgrade(&self.handles);
+
         let cancel = ctx.cancellation_token.clone();
         let sender = ctx.receiver().clone();
         let handle = tokio::spawn(async move {
+            let _guard = HandleGuard {
+                weak_handles: handles_weak,
+                task_id: id,
+            };
+
             select! {
                 _ = cancel.cancelled() => {}
                 _ = tokio::time::sleep(duration) => {
@@ -61,7 +102,7 @@ impl Scheduler {
             join_handle: Some(handle),
             cancel: ctx.cancellation_token.clone(),
         };
-        self.handles.write().push(handle);
+        self.handles.write().insert(id, handle);
     }
 
     /// Schedule a message to be sent to the component at a regular interval.
@@ -80,11 +121,16 @@ impl Scheduler {
         M: Message + Clone,
         S: (Fn() -> Option<Span>) + Send + Sync + 'static,
     {
+        let id = self.allocate_id();
+        let handles_weak = Arc::downgrade(&self.handles);
         let cancel = ctx.cancellation_token.clone();
-
         let sender = ctx.receiver().clone();
 
         let handle = tokio::spawn(async move {
+            let _guard = HandleGuard {
+                weak_handles: handles_weak,
+                task_id: id,
+            };
             let mut counter = 0;
             while Self::should_continue(num_times, counter) {
                 select! {
@@ -109,7 +155,7 @@ impl Scheduler {
             join_handle: Some(handle),
             cancel: ctx.cancellation_token.clone(),
         };
-        self.handles.write().push(handle);
+        self.handles.write().insert(id, handle);
     }
 
     #[cfg(test)]
@@ -132,7 +178,7 @@ impl Scheduler {
             let mut handles = self.handles.write();
             handles
                 .iter_mut()
-                .flat_map(|h| h.join_handle.take())
+                .flat_map(|(_, h)| h.join_handle.take())
                 .collect::<Vec<_>>()
         };
         for join_handle in handles.iter_mut() {
@@ -148,7 +194,7 @@ impl Scheduler {
     pub(crate) fn stop(&self) {
         let handles = self.handles.read();
         for handle in handles.iter() {
-            handle.cancel.cancel();
+            handle.1.cancel.cancel();
         }
     }
 }
@@ -157,15 +203,13 @@ impl Scheduler {
 mod tests {
     use super::*;
     use crate::system::System;
-
     use async_trait::async_trait;
+    use std::sync::atomic::{AtomicBool, AtomicUsize, Ordering};
     use std::sync::Arc;
     use std::time::Duration;
 
-    use std::sync::atomic::{AtomicUsize, Ordering};
-
     #[derive(Debug)]
-    struct TestComponent {
+    struct SimpleScheduleIntervalComponent {
         queue_size: usize,
         counter: Arc<AtomicUsize>,
     }
@@ -173,29 +217,29 @@ mod tests {
     #[derive(Clone, Debug)]
     struct ScheduleMessage {}
 
-    impl TestComponent {
+    impl SimpleScheduleIntervalComponent {
         fn new(queue_size: usize, counter: Arc<AtomicUsize>) -> Self {
-            TestComponent {
+            SimpleScheduleIntervalComponent {
                 queue_size,
                 counter,
             }
         }
     }
     #[async_trait]
-    impl Handler<ScheduleMessage> for TestComponent {
+    impl Handler<ScheduleMessage> for SimpleScheduleIntervalComponent {
         type Result = ();
 
         async fn handle(
             &mut self,
             _message: ScheduleMessage,
-            _ctx: &ComponentContext<TestComponent>,
+            _ctx: &ComponentContext<SimpleScheduleIntervalComponent>,
         ) {
             self.counter.fetch_add(1, Ordering::SeqCst);
         }
     }
 
     #[async_trait]
-    impl Component for TestComponent {
+    impl Component for SimpleScheduleIntervalComponent {
         fn get_name() -> &'static str {
             "Test component"
         }
@@ -204,7 +248,10 @@ mod tests {
             self.queue_size
         }
 
-        async fn on_start(&mut self, ctx: &ComponentContext<TestComponent>) -> () {
+        async fn on_start(
+            &mut self,
+            ctx: &ComponentContext<SimpleScheduleIntervalComponent>,
+        ) -> () {
             let duration = Duration::from_millis(100);
             ctx.scheduler
                 .schedule(ScheduleMessage {}, duration, ctx, || None);
@@ -224,7 +271,7 @@ mod tests {
     async fn test_schedule() {
         let system = System::new();
         let counter = Arc::new(AtomicUsize::new(0));
-        let component = TestComponent::new(10, counter.clone());
+        let component = SimpleScheduleIntervalComponent::new(10, counter.clone());
         let _handle = system.start_component(component);
         // yield to allow the component to process the messages
         tokio::task::yield_now().await;
@@ -232,4 +279,73 @@ mod tests {
         system.join().await;
         assert_eq!(counter.load(Ordering::SeqCst), 5);
     }
+
+    #[derive(Debug)]
+    struct OneMessageComponent {
+        queue_size: usize,
+        counter: Arc<AtomicUsize>,
+        handles_empty_after: Arc<AtomicBool>,
+    }
+
+    impl OneMessageComponent {
+        fn new(
+            queue_size: usize,
+            counter: Arc<AtomicUsize>,
+            handles_empty_after: Arc<AtomicBool>,
+        ) -> Self {
+            OneMessageComponent {
+                queue_size,
+                counter,
+                handles_empty_after,
+            }
+        }
+    }
+
+    #[async_trait]
+    impl Component for OneMessageComponent {
+        fn get_name() -> &'static str {
+            "OneMessageComponent"
+        }
+
+        fn queue_size(&self) -> usize {
+            self.queue_size
+        }
+
+        async fn on_start(&mut self, ctx: &ComponentContext<OneMessageComponent>) -> () {
+            let duration = Duration::from_millis(100);
+            ctx.scheduler
+                .schedule(ScheduleMessage {}, duration, ctx, || None);
+        }
+    }
+
+    #[async_trait]
+    impl Handler<ScheduleMessage> for OneMessageComponent {
+        type Result = ();
+
+        async fn handle(
+            &mut self,
+            _message: ScheduleMessage,
+            ctx: &ComponentContext<OneMessageComponent>,
+        ) {
+            self.counter.fetch_add(1, Ordering::SeqCst);
+            self.handles_empty_after
+                .store(ctx.scheduler.handles.read().is_empty(), Ordering::SeqCst);
+        }
+    }
+
+    #[tokio::test]
+    async fn test_handle_cleaned_up() {
+        let system = System::new();
+        let counter = Arc::new(AtomicUsize::new(0));
+        let handles_empty_after = Arc::new(AtomicBool::new(false));
+        let component = OneMessageComponent::new(10, counter.clone(), handles_empty_after.clone());
+        let _handle = system.start_component(component);
+        // Wait for the 100ms schedule to trigger
+        tokio::time::sleep(Duration::from_millis(500)).await;
+        // yield to allow the component to process the messages
+        tokio::task::yield_now().await;
+        assert!(handles_empty_after.load(Ordering::SeqCst));
+        // We should have scheduled the message once
+        system.join().await;
+    }
 }