diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py
index bc65d3a47..319fb0f53 100644
--- a/can/broadcastmanager.py
+++ b/can/broadcastmanager.py
@@ -182,6 +182,7 @@ def __init__(
         """
         super().__init__(messages, period)
         self.duration = duration
+        self.end_time: Optional[float] = None
 
 
 class RestartableCyclicTaskABC(CyclicSendTaskABC, abc.ABC):
@@ -299,9 +300,6 @@ def __init__(
         self.send_lock = lock
         self.stopped = True
         self.thread: Optional[threading.Thread] = None
-        self.end_time: Optional[float] = (
-            time.perf_counter() + duration if duration else None
-        )
         self.on_error = on_error
         self.modifier_callback = modifier_callback
 
@@ -341,6 +339,10 @@ def start(self) -> None:
             self.thread = threading.Thread(target=self._run, name=name)
             self.thread.daemon = True
 
+            self.end_time: Optional[float] = (
+                time.perf_counter() + self.duration if self.duration else None
+            )
+
             if self.event and PYWIN32:
                 PYWIN32.set_timer(self.event, self.period_ms)
 
@@ -356,6 +358,7 @@ def _run(self) -> None:
 
         while not self.stopped:
             if self.end_time is not None and time.perf_counter() >= self.end_time:
+                self.stop()
                 break
 
             try:
diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py
index 34d29b8b6..7116efc9d 100644
--- a/test/simplecyclic_test.py
+++ b/test/simplecyclic_test.py
@@ -155,14 +155,21 @@ def test_stopping_perodic_tasks(self):
     def test_restart_perodic_tasks(self):
         period = 0.01
         safe_timeout = period * 5 if not IS_PYPY else 1.0
+        duration = 0.3
 
         msg = can.Message(
             is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7]
         )
 
+        def _read_all_messages(_bus: can.interfaces.virtual.VirtualBus) -> None:
+            sleep(safe_timeout)
+            while not _bus.queue.empty():
+                _bus.recv(timeout=period)
+            sleep(safe_timeout)
+
         with can.ThreadSafeBus(interface="virtual", receive_own_messages=True) as bus:
             task = bus.send_periodic(msg, period)
-            self.assertIsInstance(task, can.broadcastmanager.RestartableCyclicTaskABC)
+            self.assertIsInstance(task, can.broadcastmanager.ThreadBasedCyclicSendTask)
 
             # Test that the task is sending messages
             sleep(safe_timeout)
@@ -170,10 +177,27 @@ def test_restart_perodic_tasks(self):
 
             # Stop the task and check that messages are no longer being sent
             bus.stop_all_periodic_tasks(remove_tasks=False)
+            _read_all_messages(bus)
+            assert bus.queue.empty(), "messages should not have been transmitted"
+
+            # Restart the task and check that messages are being sent again
+            task.start()
             sleep(safe_timeout)
-            while not bus.queue.empty():
-                bus.recv(timeout=period)
-            sleep(safe_timeout)
+            assert not bus.queue.empty(), "messages should have been transmitted"
+
+            # Stop the task and check that messages are no longer being sent
+            bus.stop_all_periodic_tasks(remove_tasks=False)
+            _read_all_messages(bus)
+            assert bus.queue.empty(), "messages should not have been transmitted"
+
+            # Restart the task with limited duration and wait until it stops
+            task.duration = duration
+            task.start()
+            sleep(duration + safe_timeout)
+            assert task.stopped
+            assert time.time() > task.end_time
+            assert not bus.queue.empty(), "messages should have been transmitted"
+            _read_all_messages(bus)
             assert bus.queue.empty(), "messages should not have been transmitted"
 
             # Restart the task and check that messages are being sent again