diff --git a/connector/connect/client/jvm/src/main/scala/org/apache/spark/sql/streaming/StreamingQueryListener.scala b/connector/connect/client/jvm/src/main/scala/org/apache/spark/sql/streaming/StreamingQueryListener.scala
index e2f3be02ad3a..404bd1b078ba 100644
--- a/connector/connect/client/jvm/src/main/scala/org/apache/spark/sql/streaming/StreamingQueryListener.scala
+++ b/connector/connect/client/jvm/src/main/scala/org/apache/spark/sql/streaming/StreamingQueryListener.scala
@@ -75,34 +75,6 @@ abstract class StreamingQueryListener extends Serializable {
   def onQueryTerminated(event: QueryTerminatedEvent): Unit
 }
 
-/**
- * Py4J allows a pure interface so this proxy is required.
- */
-private[spark] trait PythonStreamingQueryListener {
-  import StreamingQueryListener._
-
-  def onQueryStarted(event: QueryStartedEvent): Unit
-
-  def onQueryProgress(event: QueryProgressEvent): Unit
-
-  def onQueryIdle(event: QueryIdleEvent): Unit
-
-  def onQueryTerminated(event: QueryTerminatedEvent): Unit
-}
-
-private[spark] class PythonStreamingQueryListenerWrapper(listener: PythonStreamingQueryListener)
-    extends StreamingQueryListener {
-  import StreamingQueryListener._
-
-  def onQueryStarted(event: QueryStartedEvent): Unit = listener.onQueryStarted(event)
-
-  def onQueryProgress(event: QueryProgressEvent): Unit = listener.onQueryProgress(event)
-
-  override def onQueryIdle(event: QueryIdleEvent): Unit = listener.onQueryIdle(event)
-
-  def onQueryTerminated(event: QueryTerminatedEvent): Unit = listener.onQueryTerminated(event)
-}
-
 /**
  * Companion object of [[StreamingQueryListener]] that defines the listener events.
  * @since 3.5.0
diff --git a/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/SparkConnectPlanner.scala b/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/SparkConnectPlanner.scala
index f4b33ae961a2..7136476b515f 100644
--- a/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/SparkConnectPlanner.scala
+++ b/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/SparkConnectPlanner.scala
@@ -3097,10 +3097,14 @@ class SparkConnectPlanner(val sessionHolder: SessionHolder) extends Logging {
 
       case StreamingQueryManagerCommand.CommandCase.REMOVE_LISTENER =>
         val listenerId = command.getRemoveListener.getId
-        val listener: StreamingQueryListener = sessionHolder.getListenerOrThrow(listenerId)
-        session.streams.removeListener(listener)
-        sessionHolder.removeCachedListener(listenerId)
-        respBuilder.setRemoveListener(true)
+        sessionHolder.getListener(listenerId) match {
+          case Some(listener) =>
+            session.streams.removeListener(listener)
+            sessionHolder.removeCachedListener(listenerId)
+            respBuilder.setRemoveListener(true)
+          case None =>
+            respBuilder.setRemoveListener(false)
+        }
 
       case StreamingQueryManagerCommand.CommandCase.LIST_LISTENERS =>
         respBuilder.getListListenersBuilder
diff --git a/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/StreamingForeachBatchHelper.scala b/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/StreamingForeachBatchHelper.scala
index 3b9ae483cf1b..f2fa4bf869b9 100644
--- a/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/StreamingForeachBatchHelper.scala
+++ b/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/StreamingForeachBatchHelper.scala
@@ -87,11 +87,13 @@ object StreamingForeachBatchHelper extends Logging {
 
     val port = SparkConnectService.localPort
     val connectUrl = s"sc://localhost:$port/;user_id=${sessionHolder.userId}"
-    val runner = StreamingPythonRunner(pythonFn, connectUrl)
+    val runner = StreamingPythonRunner(
+      pythonFn,
+      connectUrl,
+      sessionHolder.sessionId,
+      "pyspark.sql.connect.streaming.worker.foreachBatch_worker")
     val (dataOut, dataIn) =
-      runner.init(
-        sessionHolder.sessionId,
-        "pyspark.sql.connect.streaming.worker.foreachBatch_worker")
+      runner.init()
 
     val foreachBatchRunnerFn: FnArgsWithId => Unit = (args: FnArgsWithId) => {
 
diff --git a/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/StreamingQueryListenerHelper.scala b/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/StreamingQueryListenerHelper.scala
index d915bc934960..9b2a931ec4ac 100644
--- a/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/StreamingQueryListenerHelper.scala
+++ b/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/planner/StreamingQueryListenerHelper.scala
@@ -24,7 +24,7 @@ import org.apache.spark.sql.streaming.StreamingQueryListener
 /**
  * A helper class for handling StreamingQueryListener related functionality in Spark Connect. Each
  * instance of this class starts a python process, inside which has the python handling logic.
- * When new a event is received, it is serialized to json, and passed to the python process.
+ * When a new event is received, it is serialized to json, and passed to the python process.
  */
 class PythonStreamingQueryListener(
     listener: SimplePythonFunction,
@@ -32,12 +32,15 @@ class PythonStreamingQueryListener(
     pythonExec: String)
     extends StreamingQueryListener {
 
-  val port = SparkConnectService.localPort
-  val connectUrl = s"sc://localhost:$port/;user_id=${sessionHolder.userId}"
-  val runner = StreamingPythonRunner(listener, connectUrl)
+  private val port = SparkConnectService.localPort
+  private val connectUrl = s"sc://localhost:$port/;user_id=${sessionHolder.userId}"
+  private val runner = StreamingPythonRunner(
+    listener,
+    connectUrl,
+    sessionHolder.sessionId,
+    "pyspark.sql.connect.streaming.worker.listener_worker")
 
-  val (dataOut, _) =
-    runner.init(sessionHolder.sessionId, "pyspark.sql.connect.streaming.worker.listener_worker")
+  val (dataOut, _) = runner.init()
 
   override def onQueryStarted(event: StreamingQueryListener.QueryStartedEvent): Unit = {
     PythonRDD.writeUTF(event.json, dataOut)
@@ -63,7 +66,7 @@ class PythonStreamingQueryListener(
     dataOut.flush()
   }
 
-  // TODO(SPARK-44433)(SPARK-44516): Improve termination of Processes.
-  // Similar to foreachBatch when we need to exit the process when the query ends.
-  // In listener semantics, we need to exit the process when removeListener is called.
+  private[spark] def stopListenerProcess(): Unit = {
+    runner.stop()
+  }
 }
diff --git a/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/service/SessionHolder.scala b/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/service/SessionHolder.scala
index 310bb9208c21..29134f0dc0de 100644
--- a/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/service/SessionHolder.scala
+++ b/connector/connect/server/src/main/scala/org/apache/spark/sql/connect/service/SessionHolder.scala
@@ -31,6 +31,7 @@ import org.apache.spark.sql.DataFrame
 import org.apache.spark.sql.SparkSession
 import org.apache.spark.sql.connect.artifact.SparkConnectArtifactManager
 import org.apache.spark.sql.connect.common.InvalidPlanInput
+import org.apache.spark.sql.connect.planner.PythonStreamingQueryListener
 import org.apache.spark.sql.streaming.StreamingQueryListener
 import org.apache.spark.util.{SystemClock}
 import org.apache.spark.util.Utils
@@ -220,20 +221,22 @@ case class SessionHolder(userId: String, sessionId: String, session: SparkSessio
   }
 
   /**
-   * Returns [[StreamingQueryListener]] cached for Listener ID `id`. If it is not found, throw
-   * [[InvalidPlanInput]].
+   * Returns [[StreamingQueryListener]] cached for Listener ID `id`. If it is not found, return
+   * None.
    */
-  private[connect] def getListenerOrThrow(id: String): StreamingQueryListener = {
+  private[connect] def getListener(id: String): Option[StreamingQueryListener] = {
     Option(listenerCache.get(id))
-      .getOrElse {
-        throw InvalidPlanInput(s"No listener with id $id is found in the session $sessionId")
-      }
   }
 
   /**
-   * Removes corresponding StreamingQueryListener by ID.
+   * Removes corresponding StreamingQueryListener by ID. Terminates the python process if it's a
+   * Spark Connect PythonStreamingQueryListener.
    */
-  private[connect] def removeCachedListener(id: String): StreamingQueryListener = {
+  private[connect] def removeCachedListener(id: String): Unit = {
+    listenerCache.get(id) match {
+      case pyListener: PythonStreamingQueryListener => pyListener.stopListenerProcess()
+      case _ => // do nothing
+    }
     listenerCache.remove(id)
   }
 
diff --git a/core/src/main/scala/org/apache/spark/api/python/StreamingPythonRunner.scala b/core/src/main/scala/org/apache/spark/api/python/StreamingPythonRunner.scala
index d4fd9485675f..f14289f984a2 100644
--- a/core/src/main/scala/org/apache/spark/api/python/StreamingPythonRunner.scala
+++ b/core/src/main/scala/org/apache/spark/api/python/StreamingPythonRunner.scala
@@ -29,27 +29,36 @@ import org.apache.spark.internal.config.Python.{PYTHON_AUTH_SOCKET_TIMEOUT, PYTH
 
 
 private[spark] object StreamingPythonRunner {
-  def apply(func: PythonFunction, connectUrl: String): StreamingPythonRunner = {
-    new StreamingPythonRunner(func, connectUrl)
+  def apply(
+      func: PythonFunction,
+      connectUrl: String,
+      sessionId: String,
+      workerModule: String
+  ): StreamingPythonRunner = {
+    new StreamingPythonRunner(func, connectUrl, sessionId, workerModule)
   }
 }
 
-private[spark] class StreamingPythonRunner(func: PythonFunction, connectUrl: String)
-  extends Logging {
+private[spark] class StreamingPythonRunner(
+    func: PythonFunction,
+    connectUrl: String,
+    sessionId: String,
+    workerModule: String) extends Logging {
   private val conf = SparkEnv.get.conf
   protected val bufferSize: Int = conf.get(BUFFER_SIZE)
   protected val authSocketTimeout = conf.get(PYTHON_AUTH_SOCKET_TIMEOUT)
 
   private val envVars: java.util.Map[String, String] = func.envVars
   private val pythonExec: String = func.pythonExec
+  private var pythonWorker: Option[Socket] = None
   protected val pythonVer: String = func.pythonVer
 
   /**
    * Initializes the Python worker for streaming functions. Sets up Spark Connect session
    * to be used with the functions.
    */
-  def init(sessionId: String, workerModule: String): (DataOutputStream, DataInputStream) = {
-    logInfo(s"Initializing Python runner (session: $sessionId ,pythonExec: $pythonExec")
+  def init(): (DataOutputStream, DataInputStream) = {
+    logInfo(s"Initializing Python runner (session: $sessionId, pythonExec: $pythonExec")
     val env = SparkEnv.get
 
     val localdir = env.blockManager.diskBlockManager.localDirs.map(f => f.getPath()).mkString(",")
@@ -60,9 +69,9 @@ private[spark] class StreamingPythonRunner(func: PythonFunction, connectUrl: Str
     conf.set(PYTHON_USE_DAEMON, false)
     envVars.put("SPARK_CONNECT_LOCAL_URL", connectUrl)
 
-    val pythonWorkerFactory =
-      new PythonWorkerFactory(pythonExec, workerModule, envVars.asScala.toMap)
-    val (worker: Socket, _) = pythonWorkerFactory.createSimpleWorker()
+    val (worker, _) = env.createPythonWorker(
+      pythonExec, workerModule, envVars.asScala.toMap)
+    pythonWorker = Some(worker)
 
     val stream = new BufferedOutputStream(worker.getOutputStream, bufferSize)
     val dataOut = new DataOutputStream(stream)
@@ -85,4 +94,13 @@ private[spark] class StreamingPythonRunner(func: PythonFunction, connectUrl: Str
 
     (dataOut, dataIn)
   }
+
+  /**
+   * Stops the Python worker.
+   */
+  def stop(): Unit = {
+    pythonWorker.foreach { worker =>
+      SparkEnv.get.destroyPythonWorker(pythonExec, workerModule, envVars.asScala.toMap, worker)
+    }
+  }
 }
diff --git a/python/pyspark/sql/connect/streaming/worker/foreachBatch_worker.py b/python/pyspark/sql/connect/streaming/worker/foreachBatch_worker.py
index 054788539f29..48a9848de400 100644
--- a/python/pyspark/sql/connect/streaming/worker/foreachBatch_worker.py
+++ b/python/pyspark/sql/connect/streaming/worker/foreachBatch_worker.py
@@ -76,7 +76,9 @@ def process(df_id, batch_id):  # type: ignore[no-untyped-def]
     # Read information about how to connect back to the JVM from the environment.
     java_port = int(os.environ["PYTHON_WORKER_FACTORY_PORT"])
     auth_secret = os.environ["PYTHON_WORKER_FACTORY_SECRET"]
-    (sock_file, _) = local_connect_and_auth(java_port, auth_secret)
+    (sock_file, sock) = local_connect_and_auth(java_port, auth_secret)
+    # There could be a long time between each micro batch.
+    sock.settimeout(None)
     write_int(os.getpid(), sock_file)
     sock_file.flush()
     main(sock_file, sock_file)
diff --git a/python/pyspark/sql/connect/streaming/worker/listener_worker.py b/python/pyspark/sql/connect/streaming/worker/listener_worker.py
index 8eb310461b6f..7aef911426de 100644
--- a/python/pyspark/sql/connect/streaming/worker/listener_worker.py
+++ b/python/pyspark/sql/connect/streaming/worker/listener_worker.py
@@ -89,7 +89,9 @@ def process(listener_event_str, listener_event_type):  # type: ignore[no-untyped
     # Read information about how to connect back to the JVM from the environment.
     java_port = int(os.environ["PYTHON_WORKER_FACTORY_PORT"])
     auth_secret = os.environ["PYTHON_WORKER_FACTORY_SECRET"]
-    (sock_file, _) = local_connect_and_auth(java_port, auth_secret)
+    (sock_file, sock) = local_connect_and_auth(java_port, auth_secret)
+    # There could be a long time between each listener event.
+    sock.settimeout(None)
     write_int(os.getpid(), sock_file)
     sock_file.flush()
     main(sock_file, sock_file)
diff --git a/python/pyspark/sql/tests/connect/streaming/test_parity_listener.py b/python/pyspark/sql/tests/connect/streaming/test_parity_listener.py
index 547462d4da6d..4bf58bf7807b 100644
--- a/python/pyspark/sql/tests/connect/streaming/test_parity_listener.py
+++ b/python/pyspark/sql/tests/connect/streaming/test_parity_listener.py
@@ -60,6 +60,10 @@ def test_listener_events(self):
         try:
             self.spark.streams.addListener(test_listener)
 
+            # This ensures the read socket on the server won't crash (i.e. because of timeout)
+            # when there hasn't been a new event for a long time
+            time.sleep(30)
+
             df = self.spark.readStream.format("rate").option("rowsPerSecond", 10).load()
             q = df.writeStream.format("noop").queryName("test").start()
 
@@ -76,6 +80,9 @@ def test_listener_events(self):
         finally:
             self.spark.streams.removeListener(test_listener)
 
+            # Remove again to verify this won't throw any error
+            self.spark.streams.removeListener(test_listener)
+
 
 if __name__ == "__main__":
     import unittest