diff --git a/connclient.go b/connclient.go
index 50ea1e96..d7a84b5d 100644
--- a/connclient.go
+++ b/connclient.go
@@ -184,17 +184,6 @@ func (c *ConnClient) checkState(allowed map[connClientState]struct{}) error {
 		allowed, c.state)
 }
 
-// CloseUDPListeners closes any open UDP listener.
-func (c *ConnClient) CloseUDPListeners() {
-	for _, l := range c.udpRtpListeners {
-		l.close()
-	}
-
-	for _, l := range c.udpRtcpListeners {
-		l.close()
-	}
-}
-
 // NetConn returns the underlying net.Conn.
 func (c *ConnClient) NetConn() net.Conn {
 	return c.conf.Conn
diff --git a/dialer_test.go b/dialer_test.go
index ca062dc3..eb82b2e9 100644
--- a/dialer_test.go
+++ b/dialer_test.go
@@ -79,13 +79,13 @@ func TestDialReadUDP(t *testing.T) {
 
 	time.Sleep(1 * time.Second)
 
+	loopDone := make(chan struct{})
+	defer func() { <-loopDone }()
+
 	conn, err := DialRead("rtsp://localhost:8554/teststream", StreamProtocolUDP)
 	require.NoError(t, err)
 	defer conn.Close()
 
-	loopDone := make(chan struct{})
-	defer func() { <-loopDone }()
-
 	go func() {
 		defer close(loopDone)
 		conn.LoopUDP()
@@ -93,8 +93,6 @@ func TestDialReadUDP(t *testing.T) {
 
 	_, err = conn.ReadFrameUDP(0, StreamTypeRtp)
 	require.NoError(t, err)
-
-	conn.CloseUDPListeners()
 }
 
 func TestDialReadTCP(t *testing.T) {
@@ -156,13 +154,13 @@ func TestDialReadRedirect(t *testing.T) {
 
 	time.Sleep(1 * time.Second)
 
+	loopDone := make(chan struct{})
+	defer func() { <-loopDone }()
+
 	conn, err := DialRead("rtsp://localhost:8554/path1", StreamProtocolUDP)
 	require.NoError(t, err)
 	defer conn.Close()
 
-	loopDone := make(chan struct{})
-	defer func() { <-loopDone }()
-
 	go func() {
 		defer close(loopDone)
 		conn.LoopUDP()
@@ -170,8 +168,6 @@ func TestDialReadRedirect(t *testing.T) {
 
 	_, err = conn.ReadFrameUDP(0, StreamTypeRtp)
 	require.NoError(t, err)
-
-	conn.CloseUDPListeners()
 }
 
 func TestDialPublishUDP(t *testing.T) {
diff --git a/examples/client-read-udp.go b/examples/client-read-udp.go
index 2d0af7ab..acd65232 100644
--- a/examples/client-read-udp.go
+++ b/examples/client-read-udp.go
@@ -13,6 +13,9 @@ import (
 // read all tracks with the UDP protocol.
 
 func main() {
+	var wg sync.WaitGroup
+	defer wg.Wait()
+
 	// connect to the server and start reading all tracks
 	conn, err := gortsplib.DialRead("rtsp://localhost:8554/mystream", gortsplib.StreamProtocolUDP)
 	if err != nil {
@@ -20,10 +23,6 @@ func main() {
 	}
 	defer conn.Close()
 
-	var wg sync.WaitGroup
-	defer wg.Wait()
-	defer conn.CloseUDPListeners()
-
 	for _, track := range conn.Tracks() {
 		// read RTP frames
 		wg.Add(1)