diff --git a/clients/src/main/java/org/apache/kafka/clients/consumer/internals/AbstractHeartbeatRequestManager.java b/clients/src/main/java/org/apache/kafka/clients/consumer/internals/AbstractHeartbeatRequestManager.java
index cba2b65cbba7d..b5d81c681192e 100644
--- a/clients/src/main/java/org/apache/kafka/clients/consumer/internals/AbstractHeartbeatRequestManager.java
+++ b/clients/src/main/java/org/apache/kafka/clients/consumer/internals/AbstractHeartbeatRequestManager.java
@@ -97,6 +97,8 @@ public abstract class AbstractHeartbeatRequestManager<R extends AbstractResponse
      */
     private final HeartbeatMetricsManager metricsManager;
 
+    private volatile boolean isClosed = false;
+
     public static final String CONSUMER_PROTOCOL_NOT_SUPPORTED_MSG = "The cluster does not support the new CONSUMER " +
         "group protocol. Set group.protocol=classic on the consumer configs to revert to the CLASSIC protocol " +
         "until the cluster is upgraded.";
@@ -257,6 +259,11 @@ public long maximumTimeToWait(long currentTimeMs) {
         return Math.min(pollTimer.remainingMs() / 2, heartbeatRequestState.timeToNextHeartbeatMs(currentTimeMs));
     }
 
+    @Override
+    public void signalClose() {
+        isClosed = true;
+    }
+
     /**
      * Reset the poll timer, indicating that the user has called consumer.poll(). If the member
      * is in {@link MemberState#STALE} state due to expired poll timer, this will transition the
@@ -315,7 +322,10 @@ private NetworkClientDelegate.UnsentRequest logResponse(final NetworkClientDeleg
                 else
                     logger.error("{} failed because of {}: {}", heartbeatRequestName(), error, response);
             } else {
-                logger.error("{} failed because of unexpected exception.", heartbeatRequestName(), exception);
+                if (isClosed) {
+                    logger.debug("{} failed because of exception during close: {}", heartbeatRequestName(), exception);
+                } else
+                    logger.error("{} failed because of unexpected exception: {}", heartbeatRequestName(), exception);
             }
         });
     }
diff --git a/clients/src/main/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManager.java b/clients/src/main/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManager.java
index c45e3da1b5e42..a10b5bb66688c 100644
--- a/clients/src/main/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManager.java
+++ b/clients/src/main/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManager.java
@@ -297,6 +297,8 @@ private static List<StreamsGroupHeartbeatRequestData.TopicInfo> getChangelogTopi
      */
     private final Timer pollTimer;
 
+    private volatile boolean isClosed = false;
+
     public StreamsGroupHeartbeatRequestManager(final LogContext logContext,
                                                final Time time,
                                                final ConsumerConfig config,
@@ -417,6 +419,11 @@ public NetworkClientDelegate.PollResult pollOnClose(long currentTimeMs) {
         return EMPTY;
     }
 
+    @Override
+    public void signalClose() {
+        isClosed = true;
+    }
+
     public StreamsMembershipManager membershipManager() {
         return membershipManager;
     }
@@ -486,7 +493,10 @@ private NetworkClientDelegate.UnsentRequest makeHeartbeatRequestAndLogResponse(f
                 else
                     logger.error("StreamsGroupHeartbeatRequest failed because of {}: {}", error, response);
             } else {
-                logger.error("StreamsGroupHeartbeatRequest failed because of unexpected exception.", exception);
+                if (isClosed) {
+                    logger.debug("StreamsGroupHeartbeatRequest failed because of exception during close: ", exception);
+                } else
+                    logger.error("StreamsGroupHeartbeatRequest failed because of unexpected exception: ", exception);
             }
         });
     }