diff --git a/components/pthread/pthread.c b/components/pthread/pthread.c
index b7e57ee4d83..0319331c3d6 100644
--- a/components/pthread/pthread.c
+++ b/components/pthread/pthread.c
@@ -464,8 +464,14 @@ int pthread_join(pthread_t thread, void **retval)
 
     if (ret == 0) {
         if (wait) {
-            xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
-            _lock_acquire(&s_threads_lock);
+            for (;;) {
+                xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+                _lock_acquire(&s_threads_lock);
+                if (pthread->state == PTHREAD_TASK_STATE_EXIT) {
+                    break;
+                }
+                _lock_release(&s_threads_lock);
+            }
             child_task_retval = pthread->retval;
             pthread_delete(pthread);
             _lock_release(&s_threads_lock);
@@ -536,12 +542,11 @@ void pthread_exit(void *value_ptr)
     } else {
         // Set return value
         pthread->retval = value_ptr;
-        // Remove from list, it indicates that task has exited
+        // Publish completion under the same lock checked by pthread_join.
+        pthread->state = PTHREAD_TASK_STATE_EXIT;
         if (pthread->join_task) {
             // notify join
             xTaskNotify(pthread->join_task, 0, eNoAction);
-        } else {
-            pthread->state = PTHREAD_TASK_STATE_EXIT;
         }
     }
 
diff --git a/components/pthread/test_apps/pthread_unity_tests/main/test_pthread.c b/components/pthread/test_apps/pthread_unity_tests/main/test_pthread.c
index 1f2232c3bad..88a9c2af29e 100644
--- a/components/pthread/test_apps/pthread_unity_tests/main/test_pthread.c
+++ b/components/pthread/test_apps/pthread_unity_tests/main/test_pthread.c
@@ -66,6 +66,27 @@ TEST_CASE("pthread create join", "[pthread]")
     }
 }
 
+static void *join_notification_worker(void *arg)
+{
+    // Keep the child alive until the parent has entered pthread_join.
+    vTaskDelay(2);
+    return arg;
+}
+
+TEST_CASE("pthread join ignores unrelated task notifications", "[pthread]")
+{
+    int token = 0;
+    pthread_t thread;
+    void *result = NULL;
+
+    TEST_ASSERT_EQUAL_INT(0, pthread_create(&thread, NULL, join_notification_worker, &token));
+    // A library may already have notified this task for an unrelated purpose.
+    xTaskNotifyGive(xTaskGetCurrentTaskHandle());
+    TEST_ASSERT_EQUAL_INT(0, pthread_join(thread, &result));
+    TEST_ASSERT_EQUAL_PTR(&token, result);
+    ulTaskNotifyTake(pdTRUE, 0);
+}
+
 static void *waiting_thread(void *arg)
 {
     TaskHandle_t *task_handle = (TaskHandle_t *)arg;