diff --git a/components/rtsp/include/rtsp_session.hpp b/components/rtsp/include/rtsp_session.hpp
index 4048dd913..cf7c83c0c 100644
--- a/components/rtsp/include/rtsp_session.hpp
+++ b/components/rtsp/include/rtsp_session.hpp
@@ -136,8 +136,11 @@ class RtspSession : public BaseComponent {
 
   /// Handle an invalid RTSP request
   /// @param request The request to handle
+  /// @param code The response code to send (default: 400)
+  /// @param message The response message to send (default: "Bad Request")
   /// @return True if the request was handled successfully, false otherwise
-  bool handle_rtsp_invalid_request(std::string_view request);
+  bool handle_rtsp_invalid_request(std::string_view request, int code = 400,
+                                   std::string_view message = "Bad Request");
 
   /// Handle a single RTSP request
   /// @note Requests are of the form "METHOD RTSP_PATH RTSP_VERSION"
diff --git a/components/rtsp/src/rtsp_server.cpp b/components/rtsp/src/rtsp_server.cpp
index 40fd27025..f753a7776 100644
--- a/components/rtsp/src/rtsp_server.cpp
+++ b/components/rtsp/src/rtsp_server.cpp
@@ -186,7 +186,10 @@ bool RtspServer::accept_task_function(std::mutex &m, std::condition_variable &cv
 
   // add the session to the list of sessions
   auto session_id = session->get_session_id();
-  sessions_.emplace(session_id, std::move(session));
+  {
+    std::lock_guard<std::mutex> lk(session_mutex_);
+    sessions_.emplace(session_id, std::move(session));
+  }
 
   // start the session task if it is not already running
   using namespace std::placeholders;
diff --git a/components/rtsp/src/rtsp_session.cpp b/components/rtsp/src/rtsp_session.cpp
index 1917a8a48..c7338ddab 100644
--- a/components/rtsp/src/rtsp_session.cpp
+++ b/components/rtsp/src/rtsp_session.cpp
@@ -152,7 +152,9 @@ bool RtspSession::handle_rtsp_setup(std::string_view request) {
   int client_rtp_port;
   int client_rtcp_port;
   if (!parse_rtsp_setup_request(request, rtsp_path, client_rtp_port, client_rtcp_port)) {
-    // the parse function will send the response, so we just need to return
+    // the parse function will send the response, so we just need to
+    // teardown the session since setup failed and streaming cannot proceed
+    teardown();
     return false;
   }
   // parse the sequence number from the request
@@ -215,11 +217,10 @@ bool RtspSession::handle_rtsp_teardown(std::string_view request) {
   return send_response(code, message, sequence_number, headers);
 }
 
-bool RtspSession::handle_rtsp_invalid_request(std::string_view request) {
+bool RtspSession::handle_rtsp_invalid_request(std::string_view request, int code,
+                                              std::string_view message) {
   logger_.info("RTSP invalid request");
   // create a response
-  int code = 400;
-  std::string message = "Bad Request";
   int sequence_number = 0;
   if (!parse_rtsp_command_sequence(request, sequence_number)) {
     return send_response(code, message);
@@ -357,29 +358,36 @@ bool RtspSession::parse_rtsp_setup_request(std::string_view request, std::string
   // parse the rtsp path from the request
   rtsp_path = parse_rtsp_path(request);
   if (rtsp_path.empty()) {
+    logger_.error("Failed to parse RTSP path from request");
+    handle_rtsp_invalid_request(request);
     return false;
   }
   logger_.debug("Parsing setup request:\n{}", request);
   // parse the transport header from the request
   auto transport_index = request.find("Transport: ");
   if (transport_index == std::string::npos) {
+    logger_.error("Failed to parse Transport header (start) from request");
+    handle_rtsp_invalid_request(request);
     return false;
   }
   auto transport_end_index = request.find('\r', transport_index);
   if (transport_end_index == std::string::npos) {
+    logger_.error("Failed to parse Transport header (end) from request");
+    handle_rtsp_invalid_request(request);
     return false;
   }
   std::string_view transport =
       request.substr(transport_index + 11, transport_end_index - transport_index - 11);
   if (transport.empty()) {
+    logger_.error("Transport header is empty");
+    handle_rtsp_invalid_request(request);
     return false;
   }
   logger_.debug("Transport header: {}", transport);
   // we don't support TCP, so return an error if the transport is not RTP/AVP/UDP
   if (transport.find("RTP/AVP/TCP") != std::string::npos) {
     logger_.error("TCP transport is not supported");
-    // TODO: this doesn't send the sequence number back to the client
-    send_response(461, "Unsupported Transport");
+    handle_rtsp_invalid_request(request, 461, "Unsupported Transport");
     return false;
   }
 
@@ -389,12 +397,16 @@ bool RtspSession::parse_rtsp_setup_request(std::string_view request, std::string
   std::string_view rtp_port =
       request.substr(client_port_index + 12, dash_index - client_port_index - 12);
   if (rtp_port.empty()) {
+    logger_.error("Failed to parse client RTP port from request");
+    handle_rtsp_invalid_request(request);
     return false;
   }
   // parse the rtcp port from the request
   std::string_view rtcp_port =
       request.substr(dash_index + 1, request.find('\r', client_port_index) - dash_index - 1);
   if (rtcp_port.empty()) {
+    logger_.error("Empty client RTCP port in request");
+    handle_rtsp_invalid_request(request);
     return false;
   }
   // convert the rtp and rtcp ports to integers