diff --git a/src/grpc/infer_handler.cc b/src/grpc/infer_handler.cc
index d4d8092142..bfd3c9b2e2 100644
--- a/src/grpc/infer_handler.cc
+++ b/src/grpc/infer_handler.cc
@@ -973,6 +973,8 @@ ModelInferHandler::InferResponseComplete(
     return;
   }
 
+  state->context_->EraseInflightState(state);
+
 #ifdef TRITON_ENABLE_TRACING
   state->trace_timestamps_.emplace_back(std::make_pair(
       "INFER_RESPONSE_COMPLETE", TraceManager::CaptureTimestamp()));
@@ -987,7 +989,6 @@ ModelInferHandler::InferResponseComplete(
         "deleting GRPC inference response");
 
     state->step_ = Steps::CANCELLED;
-    state->context_->EraseInflightState(state);
 
     LOG_VERBOSE(1) << "ModelInferHandler::InferResponseComplete, "
                    << state->unique_id_
diff --git a/src/grpc/infer_handler.h b/src/grpc/infer_handler.h
index 0ba9e6235f..d9bf17a068 100644
--- a/src/grpc/infer_handler.h
+++ b/src/grpc/infer_handler.h
@@ -640,9 +640,9 @@ class InferHandlerState {
 
     void GrpcContextAsyncNotifyWhenDone(InferHandlerStateType* state)
     {
-      InferHandlerStateType* wrapped_state =
-          new InferHandlerStateType(Steps::WAITING_NOTIFICATION, state);
-      ctx_->AsyncNotifyWhenDone(wrapped_state);
+      notify_state_ = std::unique_ptr<InferHandlerStateType>(
+          new InferHandlerStateType(Steps::WAITING_NOTIFICATION, state));
+      ctx_->AsyncNotifyWhenDone(notify_state_.get());
     }
 
     void SetReceivedNotification(bool value) { received_notification_ = true; }
@@ -666,8 +666,12 @@ class InferHandlerState {
       all_states_.insert(state);
     }
 
-    // Adds the state object created on this context
-    void EraseState(InferHandlerStateType* state) { all_states_.erase(state); }
+    // Erases the state object created on this context
+    void EraseState(InferHandlerStateType* state)
+    {
+      EraseInflightState(state);
+      all_states_.erase(state);
+    }
 
     bool HandleCompletion()
     {
@@ -975,6 +979,10 @@ class InferHandlerState {
     // True if there is an ongoing write to the grpc stream
     std::atomic<bool> ongoing_write_;
 
+    // The state object that is sent to grpc async notification
+    // for tracking the gRPC stream.
+    std::unique_ptr<InferHandlerState> notify_state_;
+
     // Tracks whether the async notification has been delivered by
     // completion queue.
     bool received_notification_;
@@ -1274,7 +1282,6 @@ InferHandler<
         state->context_->SetReceivedNotification(true);
         LOG_VERBOSE(1) << "Received notification for " << Name() << ", "
                        << state->unique_id_;
-        delete state_wrapper;
       }
       LOG_VERBOSE(2) << "Grpc::CQ::Next() "
                      << state->context_->DebugString(state);
diff --git a/src/grpc/stream_infer_handler.cc b/src/grpc/stream_infer_handler.cc
index 1934bf4c98..9e564d8322 100644
--- a/src/grpc/stream_infer_handler.cc
+++ b/src/grpc/stream_infer_handler.cc
@@ -576,6 +576,15 @@ ModelStreamInferHandler::StreamInferResponseComplete(
     }
   }
 
+  // If receiving the final callback then erase the state from the inflight
+  // state data structure to prevent cancellation being called on the request.
+  // Also make sure that if this state was sent to gRPC async notification
+  // mechanism then the state is not removed as it would be needed for handling
+  // the cancellation if detected.
+  if (state->complete_ && (!state->IsAsyncNotifyState())) {
+    state->context_->EraseInflightState(state);
+  }
+
   if (state->IsGrpcContextCancelled()) {
     std::lock_guard<std::recursive_mutex> lock(state->step_mtx_);
     // Clean-up the received response object.
@@ -593,7 +602,6 @@ ModelStreamInferHandler::StreamInferResponseComplete(
     // that state object can be released.
     if (state->complete_) {
       state->step_ = Steps::CANCELLED;
-      state->context_->EraseInflightState(state);
       state->context_->PutTaskBackToQueue(state);
     }
 
@@ -692,7 +700,6 @@ ModelStreamInferHandler::StreamInferResponseComplete(
       // that state object can be released.
       if (state->complete_) {
         state->step_ = Steps::CANCELLED;
-        state->context_->EraseInflightState(state);
         state->context_->PutTaskBackToQueue(state);
       }