diff --git a/command/operator_autopilot_set.go b/command/operator_autopilot_set.go
index 3bd8dc8596..6152c0dec9 100644
--- a/command/operator_autopilot_set.go
+++ b/command/operator_autopilot_set.go
@@ -3,10 +3,11 @@ package command
 import (
 	"flag"
 	"fmt"
-	"github.com/hashicorp/consul/api"
-	"github.com/hashicorp/consul/command/base"
 	"strings"
 	"time"
+
+	"github.com/hashicorp/consul/api"
+	"github.com/hashicorp/consul/command/base"
 )
 
 type OperatorAutopilotSetCommand struct {
diff --git a/command/operator_autopilot_set_test.go b/command/operator_autopilot_set_test.go
index 4b859aa0eb..3b6b8b69ac 100644
--- a/command/operator_autopilot_set_test.go
+++ b/command/operator_autopilot_set_test.go
@@ -3,11 +3,11 @@ package command
 import (
 	"strings"
 	"testing"
+	"time"
 
 	"github.com/hashicorp/consul/command/base"
 	"github.com/hashicorp/consul/consul/structs"
 	"github.com/mitchellh/cli"
-	"time"
 )
 
 func TestOperator_Autopilot_Set_Implements(t *testing.T) {
diff --git a/consul/autopilot.go b/consul/autopilot.go
index 1815985fc9..b1736b3b80 100644
--- a/consul/autopilot.go
+++ b/consul/autopilot.go
@@ -33,13 +33,15 @@ func (s *Server) stopAutopilot() {
 
 // autopilotLoop periodically looks for nonvoting servers to promote and dead servers to remove.
 func (s *Server) autopilotLoop() {
+	defer s.autopilotWaitGroup.Done()
+
 	// Monitor server health until shutdown
 	ticker := time.NewTicker(s.config.AutopilotInterval)
+	defer ticker.Stop()
+
 	for {
 		select {
 		case <-s.autopilotShutdownCh:
-			ticker.Stop()
-			s.autopilotWaitGroup.Done()
 			return
 		case <-ticker.C:
 			state := s.fsm.State()
@@ -93,7 +95,7 @@ func (s *Server) pruneDeadServers() error {
 	}
 
 	// Only do removals if a minority of servers will be affected
-	if len(failed) < peers/2 || (len(failed) == 1 && peers >= 3) {
+	if len(failed) < peers/2 {
 		for _, server := range failed {
 			s.logger.Printf("[INFO] consul: Attempting removal of failed server: %v", server)
 			go s.serfLAN.RemoveFailedNode(server)
@@ -188,10 +190,11 @@ func (b *BasicAutopilot) PromoteNonVoters(autopilotConf *structs.AutopilotConfig
 func (s *Server) serverHealthLoop() {
 	// Monitor server health until shutdown
 	ticker := time.NewTicker(s.config.ServerHealthInterval)
+	defer ticker.Stop()
+
 	for {
 		select {
 		case <-s.shutdownCh:
-			ticker.Stop()
 			return
 		case <-ticker.C:
 			serverHealths := make(map[string]*structs.ServerHealth)
diff --git a/consul/autopilot_test.go b/consul/autopilot_test.go
index 034197208f..6d38d6a4de 100644
--- a/consul/autopilot_test.go
+++ b/consul/autopilot_test.go
@@ -102,37 +102,41 @@ func TestAutopilot_CleanupDeadServerPeriodic(t *testing.T) {
 	defer os.RemoveAll(dir3)
 	defer s3.Shutdown()
 
-	servers := []*Server{s1, s2, s3}
+	dir4, s4 := testServerWithConfig(t, conf)
+	defer os.RemoveAll(dir4)
+	defer s4.Shutdown()
+
+	servers := []*Server{s1, s2, s3, s4}
 
 	// Join the servers to s1
 	addr := fmt.Sprintf("127.0.0.1:%d",
 		s1.config.SerfLANConfig.MemberlistConfig.BindPort)
-	if _, err := s2.JoinLAN([]string{addr}); err != nil {
-		t.Fatalf("err: %v", err)
-	}
-	if _, err := s3.JoinLAN([]string{addr}); err != nil {
-		t.Fatalf("err: %v", err)
+
+	for _, s := range servers[1:] {
+		if _, err := s.JoinLAN([]string{addr}); err != nil {
+			t.Fatalf("err: %v", err)
+		}
 	}
 
 	for _, s := range servers {
 		testutil.WaitForResult(func() (bool, error) {
 			peers, _ := s.numPeers()
-			return peers == 3, nil
+			return peers == 4, nil
 		}, func(err error) {
-			t.Fatalf("should have 3 peers")
+			t.Fatalf("should have 4 peers")
 		})
 	}
 
 	// Kill a non-leader server
-	s3.Shutdown()
+	s4.Shutdown()
 
 	// Should be removed from the peers automatically
-	for _, s := range []*Server{s1, s2} {
+	for _, s := range []*Server{s1, s2, s3} {
 		testutil.WaitForResult(func() (bool, error) {
 			peers, _ := s.numPeers()
-			return peers == 2, nil
+			return peers == 3, nil
 		}, func(err error) {
-			t.Fatalf("should have 2 peers")
+			t.Fatalf("should have 3 peers")
 		})
 	}
 }