diff --git a/lib/fluent/plugin_helper/http_server/server.rb b/lib/fluent/plugin_helper/http_server/server.rb
index a7b561e6be..50df177e83 100644
--- a/lib/fluent/plugin_helper/http_server/server.rb
+++ b/lib/fluent/plugin_helper/http_server/server.rb
@@ -67,6 +67,12 @@ def start(notify = nil)
             if notify
               notify.push(:ready)
             end
+
+            if async_v2?
+              @server_task_queue = ::Thread::Queue.new
+              @server_task_queue.pop
+              @server_task&.stop
+            end
           end
 
           @logger.debug('Finished HTTP server')
@@ -74,9 +80,10 @@ def start(notify = nil)
 
         def stop
           @logger.debug('closing HTTP server')
-
-          if @server_task
-            @server_task.stop
+          if async_v2?
+            @server_task_queue&.push(:stop)
+          else
+            @server_task&.stop
           end
         end
 
@@ -93,6 +100,10 @@ def stop
             @router.mount(name, path, app || block)
           end
         end
+
+        private def async_v2?
+          Gem::Version.new(Async::VERSION) >= Gem::Version.new('2.0')
+        end
       end
     end
   end