diff --git a/lucy_cli/lucy_cli/tui.py b/lucy_cli/lucy_cli/tui.py
index 4b422fd..9fc48ff 100644
--- a/lucy_cli/lucy_cli/tui.py
+++ b/lucy_cli/lucy_cli/tui.py
@@ -162,6 +162,28 @@ def get_user_input(prompt: str, timeout: float = 1.0) -> str | None:
     # Timeout occurred
     return None
 
+def display_control_status(state: dict):
+    """Prints the control-status banner shown on every TUI screen.
+
+    Always states who holds control (us, another client, or nobody) and always
+    reminds the user of the 'c' key, so the shortcut stays discoverable from any
+    screen rather than only the main menu.
+
+    Args:
+        state: The current UI state; reads 'has_control' and 'active_controller'.
+    """
+    if state.get('has_control'):
+        print('>> YOU ARE IN CONTROL of the robot <<')
+        print("Type 'c' to release control.")
+        return
+
+    controller = state.get('active_controller')
+    if controller:
+        print(f'!! READ-ONLY - CONTROLLED BY: {controller} !!')
+    else:
+        print('No client has control.')
+    print("Type 'c' to take control.")
+
 def display_help_screen():
     """Displays a static help message and waits for user confirmation."""
     clear_screen()
@@ -212,15 +234,7 @@ def display_main_menu(state: dict):
     if state.get('autorefresh'):
         print('[Auto-Refresh: ON]')
     
-    if state.get('has_control'):
-        print('>> YOU ARE IN CONTROL of the robot <<')
-        print("Type 'c' to release control.")
-    else:
-        if state.get('active_controller'):
-            print(f"!! CONTROLLED BY: {state['active_controller']} !!")
-        else:
-            print('No client has control.')
-        print("Type 'c' to take control.")
+    display_control_status(state)
 
     print('\nSelect an actuator group:')
     for i, name in enumerate(state.get('actuator_groups', [])):
@@ -236,10 +250,8 @@ def display_category_menu(state: dict, group_name: str):
         group_name: The name of the board group being displayed.
     """
     print(f'--- {group_name} ---\n')
-    if state.get('has_control'):
-        print('>> YOU ARE IN CONTROL of the robot <<\n')
-    else:
-        print(f"!! READ-ONLY (Controlled by {state.get('active_controller')}) !!\n")
+    display_control_status(state)
+    print()
 
     print('1. Actuators')
     print('2. Sensors')
@@ -254,10 +266,8 @@ def display_sensor_menu(state: dict, group_name: str):
         group_name: The name of the board group being displayed.
     """
     print(f'--- {group_name} (Sensors) ---')
-    if state.get('has_control'):
-        print('>> YOU ARE IN CONTROL of the robot <<\n')
-    else:
-        print(f"!! READ-ONLY (Controlled by {state.get('active_controller')}) !!\n")
+    display_control_status(state)
+    print()
 
     sensors = state.get('sensors', {}).get(group_name, {}).get('sensors', [])
     for i, sensor in enumerate(sensors):
@@ -277,10 +287,8 @@ def display_joint_menu(state: dict, group_name: str):
         group_name: The name of the actuator group being displayed.
     """
     print(f'--- {group_name} ---')
-    if state.get('has_control'):
-        print('>> YOU ARE IN CONTROL of the robot <<\n')
-    else:
-        print(f"!! READ-ONLY (Controlled by {state.get('active_controller')}) !!\n")
+    display_control_status(state)
+    print()
 
     joints = state.get('actuators', {}).get(group_name, {}).get('joints', [])
     for i, joint in enumerate(joints):
diff --git a/lucy_cli/lucy_cli/tui_node.py b/lucy_cli/lucy_cli/tui_node.py
index 3fe0f90..13c4188 100644
--- a/lucy_cli/lucy_cli/tui_node.py
+++ b/lucy_cli/lucy_cli/tui_node.py
@@ -16,6 +16,7 @@
 from .ros_interface import LucyROSInterface
 from .tui import clear_screen
 from .tui import display_category_menu
+from .tui import display_control_status
 from .tui import display_control_taken_popup
 from .tui import display_help_screen
 from .tui import display_joint_menu
@@ -111,6 +112,20 @@ def _prompt_choice(autorefresh: bool) -> str | None:
         return None
     return choice.lower()
 
+def _toggle_control(ros: LucyROSInterface, has_control: bool):
+    """Takes or releases control, whichever the current state calls for.
+
+    Shared by the menus and by the sensor monitor screen so that the 'c' key
+    advertised by tui.display_control_status() works everywhere it is shown.
+    """
+    if has_control:
+        ros.release_control()
+        print('Releasing control...')
+    else:
+        ros.take_control()
+        print('Requesting control...')
+    time.sleep(0.5)
+
 def _handle_common_command(ros: LucyROSInterface, choice: str, autorefresh: bool,
                            has_control: bool) -> tuple[bool, bool, bool]:
     """Handles keys shared by every menu (quit / help / auto-refresh / control).
@@ -129,13 +144,7 @@ def _handle_common_command(ros: LucyROSInterface, choice: str, autorefresh: bool
         time.sleep(0.7)
         return True, autorefresh, False
     if choice == 'c':
-        if has_control:
-            ros.release_control()
-            print('Releasing control...')
-        else:
-            ros.take_control()
-            print('Requesting control...')
-        time.sleep(0.5)
+        _toggle_control(ros, has_control)
         return True, autorefresh, False
     return False, autorefresh, False
 
@@ -259,11 +268,12 @@ def handle_sensor_menu(ros: LucyROSInterface, sensors: dict, group_name: str,
             continue
 
         # Menu-specific: monitor a sensor's live value by number.
-        _monitor_sensor(ros, sensors, group_name, choice)
+        _monitor_sensor(ros, sensors, group_name, choice, autorefresh)
 
     return autorefresh, False
 
-def _monitor_sensor(ros: LucyROSInterface, sensors: dict, group_name: str, choice: str):
+def _monitor_sensor(ros: LucyROSInterface, sensors: dict, group_name: str, choice: str,
+                    autorefresh: bool):
     """Continuously displays one sensor's live value until the user goes back.
 
     Read-only: unlike _edit_joint, there's nothing to write, so this loops
@@ -284,10 +294,13 @@ def _monitor_sensor(ros: LucyROSInterface, sensors: dict, group_name: str, choic
     history = deque(maxlen=GRAPH_WIDTH)
     while rclpy.ok():
         clear_screen()
+        state = _build_sensor_state(ros, sensors, autorefresh)
         value = ros.get_sensor_values().get(sensor['name'])
         history.append(value)
         value_str = f'{value:.3f}' if value is not None else 'N/A (no data yet)'
         print(f"--- Monitoring: {sensor['name']} ---\n")
+        display_control_status(state)
+        print()
         print(f"Type: {sensor['type']}")
         print(f"Associated actuator: {sensor.get('associated_actuator') or 'N/A'}")
         print(f'Value: {value_str}\n')
@@ -295,8 +308,13 @@ def _monitor_sensor(ros: LucyROSInterface, sensors: dict, group_name: str, choic
         print("\nPress 'b' to go back.")
 
         choice = get_user_input('> ', timeout=0.5)
-        if choice is not None and choice.lower() == 'b':
+        if choice is None:
+            continue
+        choice = choice.lower()
+        if choice == 'b':
             return
+        if choice == 'c':
+            _toggle_control(ros, state['has_control'])
 
 def handle_actuator_menu(ros: LucyROSInterface, actuators: dict, group_name: str,
                       autorefresh: bool) -> tuple[bool, bool]: