diff --git a/include/ur_modern_driver/ur/server.h b/include/ur_modern_driver/ur/server.h
index daff4d3..027e278 100644
--- a/include/ur_modern_driver/ur/server.h
+++ b/include/ur_modern_driver/ur/server.h
@@ -24,6 +24,7 @@ protected:
 
 public:
   URServer(int port);
+  ~URServer();
   std::string getIP();
   bool bind();
   bool accept();
diff --git a/src/ur/server.cpp b/src/ur/server.cpp
index 1d53ed4..5530be9 100644
--- a/src/ur/server.cpp
+++ b/src/ur/server.cpp
@@ -10,6 +10,11 @@ URServer::URServer(int port)
 {
 }
 
+URServer::~URServer()
+{
+  TCPSocket::close();
+}
+
 void URServer::setOptions(int socket_fd)
 {
   TCPSocket::setOptions(socket_fd);
@@ -61,6 +66,8 @@ bool URServer::accept()
   if(client_fd <= 0)
     return false;
 
+  setOptions(client_fd);
+
   return client_.setSocketFD(client_fd);
 }