diff --git a/tests/psa-client-server/psasim/test/kill_servers.sh b/tests/psa-client-server/psasim/test/kill_servers.sh
index e84fd39ea10c..d72263791f9d 100755
--- a/tests/psa-client-server/psasim/test/kill_servers.sh
+++ b/tests/psa-client-server/psasim/test/kill_servers.sh
@@ -7,6 +7,9 @@ set -e
 
 pkill psa_server || true
 
+# Remove temporary files
+rm -f psa_notify_*
+
 # Remove all IPCs
 # Not just ipcrm -all=msg as it is not supported on macOS.
 # Filter out header and empty lines, choosing to select based on keys being
diff --git a/tests/psa-client-server/psasim/test/run_test.sh b/tests/psa-client-server/psasim/test/run_test.sh
index ac9c4c86ca04..f54e35253200 100755
--- a/tests/psa-client-server/psasim/test/run_test.sh
+++ b/tests/psa-client-server/psasim/test/run_test.sh
@@ -16,10 +16,9 @@ cd "$(dirname "$0")"
 CLIENT_BIN=$1
 shift
 
-ipcs | grep q | awk '{ printf " -q " $2 }' | xargs ipcrm > /dev/null 2>&1 || true
+./kill_servers.sh
 
 ./start_server.sh
 ./$CLIENT_BIN "$@"
 
-# Kill server once client exited
-pkill psa_server
+./kill_servers.sh
diff --git a/tests/scripts/all.sh b/tests/scripts/all.sh
index f216f162f712..7f4c2a3d010f 100755
--- a/tests/scripts/all.sh
+++ b/tests/scripts/all.sh
@@ -379,8 +379,7 @@ cleanup()
 helper_psasim_cleanup_before_client() {
     # Clean up library files
     make -C library clean
-    # Clean up intermediate files that were used to build the server
-    make -C $PSASIM_PATH clean_server_intermediate_files
+
     # Restore files that were backup before building library files. This
     # includes $CONFIG_H and $CRYPTO_CONFIG_H.
     for x in $files_to_back_up; do
diff --git a/tests/scripts/components-psasim.sh b/tests/scripts/components-psasim.sh
index 4fe54701bf45..ba8ab331d205 100644
--- a/tests/scripts/components-psasim.sh
+++ b/tests/scripts/components-psasim.sh
@@ -10,37 +10,37 @@
 ################################################################
 
 # Helper function for controlling (start & stop) the psasim server.
-helper_psasim_server () {
+helper_psasim_server() {
     OPERATION=$1
     if [ "$OPERATION" == "start" ]; then
-    (
-        cd tests
         msg "start server in tests"
-        psa-client-server/psasim/test/start_server.sh
+        (
+            cd tests
+            ../$PSASIM_PATH/test/start_server.sh
+        )
         msg "start server in tf-psa-crypto/tests"
-        cd ../tf-psa-crypto/tests
-        ../../tests/psa-client-server/psasim/test/start_server.sh
-    )
+        (
+            cd tf-psa-crypto/tests
+            ../../$PSASIM_PATH/test/start_server.sh
+        )
     else
-    (
-        msg "terminate servers and cleanup"
-        tests/psa-client-server/psasim//test/kill_servers.sh
-
-        # Remove temporary files and logs
-        cd tests
-        rm -f psa_notify_*
-        rm -f psa_service_*
-        rm -f psa_server.log
-
-        cd ../tf-psa-crypto/tests
-        rm -f psa_notify_*
-        rm -f psa_service_*
-        rm -f psa_server.log
-    )
+        msg "terminate server in tests"
+        (
+            # This will kill both servers and clean up all the message queues,
+            # and clear temporary files in tests
+            cd tests
+            ../$PSASIM_PATH/test/kill_servers.sh
+        )
+        msg "terminate server in tf-psa-crypto/tests"
+        (
+            # This just clears temporary files in tf-psa-crypto/tests
+            cd tf-psa-crypto/tests
+            ../../$PSASIM_PATH/test/kill_servers.sh
+        )
     fi
 }
 
-component_test_psasim () {
+component_test_psasim() {
     msg "build server library and application"
     scripts/config.py crypto
     helper_psasim_config server
@@ -53,19 +53,21 @@ component_test_psasim () {
     helper_psasim_build client
 
     msg "build basic psasim client"
-    make -C tests/psa-client-server/psasim CFLAGS="$ASAN_CFLAGS" LDFLAGS="$ASAN_CFLAGS" test/psa_client_base
+    make -C $PSASIM_PATH CFLAGS="$ASAN_CFLAGS" LDFLAGS="$ASAN_CFLAGS" test/psa_client_base
     msg "test basic psasim client"
-    tests/psa-client-server/psasim/test/run_test.sh psa_client_base
+    $PSASIM_PATH/test/run_test.sh psa_client_base
 
     msg "build full psasim client"
-    make -C tests/psa-client-server/psasim CFLAGS="$ASAN_CFLAGS" LDFLAGS="$ASAN_CFLAGS" test/psa_client_full
+    make -C $PSASIM_PATH CFLAGS="$ASAN_CFLAGS" LDFLAGS="$ASAN_CFLAGS" test/psa_client_full
     msg "test full psasim client"
-    tests/psa-client-server/psasim/test/run_test.sh psa_client_full
+    $PSASIM_PATH/test/run_test.sh psa_client_full
 
-    make -C tests/psa-client-server/psasim clean
+    helper_psasim_server kill
+    make -C $PSASIM_PATH clean
 }
 
-component_test_suite_with_psasim () {
+component_test_suite_with_psasim()
+{
     msg "build server library and application"
     helper_psasim_config server
     # Modify server's library configuration here (if needed)
@@ -83,7 +85,6 @@ component_test_suite_with_psasim () {
     msg "build test suites"
     make PSASIM=1 CFLAGS="$ASAN_CFLAGS" LDFLAGS="$ASAN_CFLAGS" tests
 
-    helper_psasim_server kill
     helper_psasim_server start
 
     # psasim takes an extremely long execution time on some test suites so we