diff --git a/pw_rpc/java/main/dev/pigweed/pw_rpc/Endpoint.java b/pw_rpc/java/main/dev/pigweed/pw_rpc/Endpoint.java
index 810f1fc90e..974a13204e 100644
--- a/pw_rpc/java/main/dev/pigweed/pw_rpc/Endpoint.java
+++ b/pw_rpc/java/main/dev/pigweed/pw_rpc/Endpoint.java
@@ -21,6 +21,8 @@
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.LinkedBlockingQueue;
 import java.util.function.BiFunction;
 import java.util.stream.Collectors;
 import javax.annotation.Nullable;
@@ -30,12 +32,19 @@
  *
  * The RPC endpoint handles all RPC-related events and actions. It synchronizes interactions between
  * the endpoint and any threads interacting with RPC call objects.
+ *
+ * The Endpoint's intrinsic lock is held when updating the channels or pending calls lists. Call
+ * objects only make updates to their own state through function calls made from the Endpoint, which
+ * ensures their states are also guarded by the Endpoint's lock. Updates to call objects are
+ * enqueued while the lock is held and processed after releasing the lock. This ensures updates
+ * occur in order without needing to hold the Endpoint's lock while possibly executing user code.
  */
 class Endpoint {
   private static final Logger logger = Logger.forClass(Endpoint.class);
 
   private final Map<Integer, Channel> channels;
   private final Map<PendingRpc, AbstractCall<?, ?>> pending = new HashMap<>();
+  private final BlockingQueue<Runnable> callUpdates = new LinkedBlockingQueue<>();
 
   public Endpoint(List<Channel> channels) {
     this.channels = channels.stream().collect(Collectors.toMap(Channel::id, c -> c));
@@ -102,24 +111,52 @@ private void registerCall(AbstractCall<?, ?> call) {
     pending.put(call.rpc(), call);
   }
 
+  /** Enqueues call object updates to make after release the Endpoint's lock. */
+  private void enqueueCallUpdate(Runnable callUpdate) {
+    while (!callUpdates.add(callUpdate)) {
+      // Retry until added successfully
+    }
+  }
+
+  /** Processes all enqueued call updates; the lock must NOT be held when this is called. */
+  private void processCallUpdates() {
+    while (true) {
+      Runnable callUpdate = callUpdates.poll();
+      if (callUpdate == null) {
+        break;
+      }
+      callUpdate.run();
+    }
+  }
+
   /** Cancels an ongoing RPC */
-  public synchronized boolean cancel(AbstractCall<?, ?> call) throws ChannelOutputException {
-    if (pending.remove(call.rpc()) == null) {
-      return false;
+  public boolean cancel(AbstractCall<?, ?> call) throws ChannelOutputException {
+    try {
+      synchronized (this) {
+        if (pending.remove(call.rpc()) == null) {
+          return false;
+        }
+
+        enqueueCallUpdate(() -> call.handleError(Status.CANCELLED));
+        call.sendPacket(Packets.cancel(call.rpc()));
+      }
+    } finally {
+      logger.atFiner().log("Cancelling %s", call);
+      processCallUpdates();
     }
-    logger.atFiner().log("Cancelling %s", call);
-    call.handleError(Status.CANCELLED);
-    call.sendPacket(Packets.cancel(call.rpc()));
     return true;
   }
 
   /** Cancels an ongoing RPC without sending a cancellation packet. */
-  public synchronized boolean abandon(AbstractCall<?, ?> call) {
-    if (pending.remove(call.rpc()) == null) {
-      return false;
+  public boolean abandon(AbstractCall<?, ?> call) {
+    synchronized (this) {
+      if (pending.remove(call.rpc()) == null) {
+        return false;
+      }
+      enqueueCallUpdate(() -> call.handleError(Status.CANCELLED));
     }
     logger.atFiner().log("Abandoning %s", call);
-    call.handleError(Status.CANCELLED);
+    processCallUpdates();
     return true;
   }
 
@@ -148,14 +185,16 @@ public synchronized void openChannel(Channel channel) {
     }
   }
 
-  public synchronized boolean closeChannel(int id) {
-    if (channels.remove(id) == null) {
-      return false;
+  public boolean closeChannel(int id) {
+    synchronized (this) {
+      if (channels.remove(id) == null) {
+        return false;
+      }
+      pending.values().stream().filter(call -> call.getChannelId() == id).forEach(call -> {
+        enqueueCallUpdate(() -> call.handleError(Status.ABORTED));
+      });
     }
-    pending.values()
-        .stream()
-        .filter(call -> call.getChannelId() == id)
-        .forEach(call -> call.handleError(Status.ABORTED));
+    processCallUpdates();
     return true;
   }
 
@@ -164,8 +203,8 @@ private boolean handleNext(PendingRpc rpc, ByteString payload) {
     if (call == null) {
       return false;
     }
-    call.handleNext(payload);
     logger.atFiner().log("%s received server stream with %d B payload", call, payload.size());
+    enqueueCallUpdate(() -> call.handleNext(payload));
     return true;
   }
 
@@ -174,9 +213,9 @@ private boolean handleUnaryCompleted(PendingRpc rpc, ByteString payload, Status
     if (call == null) {
       return false;
     }
-    call.handleUnaryCompleted(payload, status);
     logger.atFiner().log(
         "%s completed with status %s and %d B payload", call, status, payload.size());
+    enqueueCallUpdate(() -> call.handleUnaryCompleted(payload, status));
     return true;
   }
 
@@ -185,8 +224,8 @@ private boolean handleStreamCompleted(PendingRpc rpc, Status status) {
     if (call == null) {
       return false;
     }
-    call.handleStreamCompleted(status);
     logger.atFiner().log("%s completed with status %s", call, status);
+    enqueueCallUpdate(() -> call.handleStreamCompleted(status));
     return true;
   }
 
@@ -195,31 +234,35 @@ private boolean handleError(PendingRpc rpc, Status status) {
     if (call == null) {
       return false;
     }
-    call.handleError(status);
     logger.atFiner().log("%s failed with error %s", call, status);
+    enqueueCallUpdate(() -> call.handleError(status));
     return true;
   }
 
-  public synchronized boolean processClientPacket(@Nullable Method method, RpcPacket packet) {
-    Channel channel = channels.get(packet.getChannelId());
-    if (channel == null) {
-      logger.atWarning().log("Received packet for unrecognized channel %d", packet.getChannelId());
-      return false;
-    }
+  public boolean processClientPacket(@Nullable Method method, RpcPacket packet) {
+    synchronized (this) {
+      Channel channel = channels.get(packet.getChannelId());
+      if (channel == null) {
+        logger.atWarning().log(
+            "Received packet for unrecognized channel %d", packet.getChannelId());
+        return false;
+      }
 
-    if (method == null) {
-      logger.atFine().log("Ignoring packet for unknown service method");
-      sendError(channel, packet, Status.NOT_FOUND);
-      return true; // true since the packet was handled, even though it was invalid.
-    }
+      if (method == null) {
+        logger.atFine().log("Ignoring packet for unknown service method");
+        sendError(channel, packet, Status.NOT_FOUND);
+        return true; // true since the packet was handled, even though it was invalid.
+      }
 
-    PendingRpc rpc = PendingRpc.create(channel, method);
-    if (!updateCall(packet, rpc)) {
-      logger.atFine().log("Ignoring packet for %s, which isn't pending", rpc);
-      sendError(channel, packet, Status.FAILED_PRECONDITION);
-      return true;
+      PendingRpc rpc = PendingRpc.create(channel, method);
+      if (!updateCall(packet, rpc)) {
+        logger.atFine().log("Ignoring packet for %s, which isn't pending", rpc);
+        sendError(channel, packet, Status.FAILED_PRECONDITION);
+        return true;
+      }
     }
 
+    processCallUpdates();
     return true;
   }