diff --git a/packages/stompman/stompman/connection_manager.py b/packages/stompman/stompman/connection_manager.py
index 0ee1258..4b4a464 100644
--- a/packages/stompman/stompman/connection_manager.py
+++ b/packages/stompman/stompman/connection_manager.py
@@ -55,10 +55,12 @@ class ConnectionManager:
     _reconnect_lock: asyncio.Lock = field(init=False, default_factory=asyncio.Lock)
     _task_group: asyncio.TaskGroup = field(init=False, default_factory=asyncio.TaskGroup)
     _send_heartbeat_task: asyncio.Task[None] = field(init=False, repr=False)
+    _check_server_heartbeat_task: asyncio.Task[None] = field(init=False, repr=False)
 
     async def __aenter__(self) -> Self:
         await self._task_group.__aenter__()
         self._send_heartbeat_task = self._task_group.create_task(asyncio.sleep(0))
+        self._check_server_heartbeat_task = self._task_group.create_task(asyncio.sleep(0))
         self._active_connection_state = await self._get_active_connection_state(is_initial_call=True)
         return self
 
@@ -66,7 +68,8 @@ async def __aexit__(
         self, exc_type: type[BaseException] | None, exc_value: BaseException | None, traceback: TracebackType | None
     ) -> None:
         self._send_heartbeat_task.cancel()
-        await asyncio.wait([self._send_heartbeat_task])
+        self._check_server_heartbeat_task.cancel()
+        await asyncio.wait([self._send_heartbeat_task, self._check_server_heartbeat_task])
         await self._task_group.__aexit__(exc_type, exc_value, traceback)
 
         if not self._active_connection_state:
@@ -77,11 +80,15 @@ async def __aexit__(
             return
         await self._active_connection_state.connection.close()
 
-    def _restart_heartbeat_task(self, server_heartbeat: Heartbeat) -> None:
+    def _restart_heartbeat_tasks(self, server_heartbeat: Heartbeat) -> None:
         self._send_heartbeat_task.cancel()
+        self._check_server_heartbeat_task.cancel()
         self._send_heartbeat_task = self._task_group.create_task(
             self._send_heartbeats_forever(server_heartbeat.want_to_receive_interval_ms)
         )
+        self._check_server_heartbeat_task = self._task_group.create_task(
+            self._check_server_heartbeat_forever(server_heartbeat.will_send_interval_ms)
+        )
 
     async def _send_heartbeats_forever(self, send_heartbeat_interval_ms: int) -> None:
         send_heartbeat_interval_seconds = send_heartbeat_interval_ms / 1000
@@ -89,6 +96,15 @@ async def _send_heartbeats_forever(self, send_heartbeat_interval_ms: int) -> Non
             await self.write_heartbeat_reconnecting()
             await asyncio.sleep(send_heartbeat_interval_seconds)
 
+    async def _check_server_heartbeat_forever(self, receive_heartbeat_interval_ms: int) -> None:
+        receive_heartbeat_interval_seconds = receive_heartbeat_interval_ms / 1000
+        while True:
+            await asyncio.sleep(receive_heartbeat_interval_seconds * self.check_server_alive_interval_factor)
+            if not self._active_connection_state:
+                continue
+            if not self._active_connection_state.is_alive(self.check_server_alive_interval_factor):
+                self._clear_active_connection_state()
+
     async def _create_connection_to_one_server(
         self, server: ConnectionParameters
     ) -> tuple[AbstractConnection, ConnectionParameters] | None:
@@ -119,7 +135,7 @@ async def _connect_to_any_server(self) -> ActiveConnectionState | AnyConnectionI
         lifespan = self.lifespan_factory(
             connection=connection,
             connection_parameters=connection_parameters,
-            set_heartbeat_interval=self._restart_heartbeat_task,
+            set_heartbeat_interval=self._restart_heartbeat_tasks,
         )
 
         try:
diff --git a/packages/stompman/test_stompman/test_connection_lifespan.py b/packages/stompman/test_stompman/test_connection_lifespan.py
index 3b48095..09d73f7 100644
--- a/packages/stompman/test_stompman/test_connection_lifespan.py
+++ b/packages/stompman/test_stompman/test_connection_lifespan.py
@@ -148,7 +148,7 @@ async def mock_sleep(delay: float) -> None:
     async with EnrichedClient(connection_class=connection_class):
         await real_sleep(0)
 
-    assert sleep_calls == [0, 1, 1, 1]
+    assert sleep_calls == [0, 0, 1, 3, 1, 3, 1, 3]
     assert write_heartbeat_mock.mock_calls == [mock.call(), mock.call(), mock.call(), mock.call()]
 
 
diff --git a/packages/stompman/test_stompman/test_connection_manager.py b/packages/stompman/test_stompman/test_connection_manager.py
index ff51aff..533ad42 100644
--- a/packages/stompman/test_stompman/test_connection_manager.py
+++ b/packages/stompman/test_stompman/test_connection_manager.py
@@ -143,12 +143,12 @@ async def test_get_active_connection_state_lifespan_flaky_ok() -> None:
         mock.call(
             connection=BaseMockConnection(),
             connection_parameters=manager.servers[0],
-            set_heartbeat_interval=manager._restart_heartbeat_task,
+            set_heartbeat_interval=manager._restart_heartbeat_tasks,
         ),
         mock.call(
             connection=BaseMockConnection(),
             connection_parameters=manager.servers[0],
-            set_heartbeat_interval=manager._restart_heartbeat_task,
+            set_heartbeat_interval=manager._restart_heartbeat_tasks,
         ),
     ]