diff --git a/Cargo.toml b/Cargo.toml
index e8d6b8a..c6fd390 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -6,12 +6,15 @@ edition = "2021"
 [dependencies]
 anyhow = "1.0.89"
 askama = "0.12.1"
+atty = "0.2.14"
 axum = "0.7.7"
+chrono = "0.4.40"
+fern = {version = "0.7.1", features = ["colored"]}
 gethostname = "0.5.0"
 log = "0.4.22"
 prost = "0.13.3"
 prost-types = "0.13.3"
-pyo3 = {version="0.22.3", features = ["extension-module"]}
+pyo3 = {version = "0.22.3", features = ["extension-module"]}
 rand = "0.8.5"
 slog = "2.7.0"
 slog-stdlog = "4.1.1"
diff --git a/src/lib.rs b/src/lib.rs
index 59fad6a..2d4de57 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -10,18 +10,22 @@ mod net;
 mod retry;
 mod timeout;
 
+use anyhow::Result;
+use atty::Stream;
 use core::time::Duration;
+use pyo3::exceptions::{PyRuntimeError, PyTimeoutError};
 use std::env;
 use std::sync::Arc;
-
-use anyhow::Result;
-use pyo3::exceptions::{PyRuntimeError, PyTimeoutError};
 use structopt::StructOpt;
 use tokio::runtime::Runtime;
 use tokio::task::JoinHandle;
 use tonic::transport::Channel;
 use tonic::Status;
 
+use chrono::Local;
+use fern::colors::{Color, ColoredLevelConfig};
+use log::LevelFilter;
+
 pub mod torchftpb {
     tonic::include_proto!("torchft");
 }
@@ -397,20 +401,50 @@ impl From<Status> for StatusError {
     }
 }
 
+fn setup_logging() -> Result<(), Box<dyn std::error::Error>> {
+    // Check if stderr is a terminal
+    let is_terminal = atty::is(Stream::Stderr);
+    let colors = ColoredLevelConfig::new()
+        .error(Color::Red)
+        .warn(Color::Yellow)
+        .info(Color::Green)
+        .debug(Color::Blue)
+        .trace(Color::Magenta);
+    let level_filter = match env::var("RUST_LOG").as_deref() {
+        Ok("error") => LevelFilter::Error,
+        Ok("warn") => LevelFilter::Warn,
+        Ok("info") => LevelFilter::Info,
+        Ok("debug") => LevelFilter::Debug,
+        Ok("trace") => LevelFilter::Trace,
+        _ => LevelFilter::Info,
+    };
+    fern::Dispatch::new()
+        .format(move |out, message, record| {
+            let module_path = record.module_path().unwrap_or("<unknown>");
+            // If stderr is a terminal, use colors when printing log level, otherwise use plain text
+            let level = if is_terminal {
+                colors.color(record.level()).to_string()
+            } else {
+                record.level().to_string()
+            };
+            out.finish(format_args!(
+                "{} [{}] [{}] - {}",
+                Local::now().format("%Y-%m-%dT%H:%M:%S%.3f"),
+                level,
+                module_path,
+                message
+            ))
+        })
+        .level(level_filter)
+        .chain(std::io::stderr())
+        .apply()?;
+    Ok(())
+}
+
 #[pymodule]
 fn _torchft(m: &Bound<'_, PyModule>) -> PyResult<()> {
     // setup logging on import
-    let mut log = stderrlog::new();
-    log.verbosity(2)
-        .show_module_names(true)
-        .timestamp(stderrlog::Timestamp::Millisecond);
-
-    if env::var("CLICOLOR_FORCE").is_ok() {
-        log.color(stderrlog::ColorChoice::AlwaysAnsi);
-    }
-
-    log.init()
-        .map_err(|e| PyRuntimeError::new_err(e.to_string()))?;
+    setup_logging().map_err(|e| PyRuntimeError::new_err(e.to_string()))?;
 
     m.add_class::<ManagerServer>()?;
     m.add_class::<ManagerClient>()?;
diff --git a/src/lighthouse.rs b/src/lighthouse.rs
index 05053a1..63c339a 100644
--- a/src/lighthouse.rs
+++ b/src/lighthouse.rs
@@ -8,6 +8,7 @@ use core::net::SocketAddr;
 use std::collections::HashMap;
 use std::collections::HashSet;
 use std::sync::Arc;
+
 use std::time::Duration;
 use std::time::{Instant, SystemTime};
 
@@ -61,6 +62,25 @@ pub struct Lighthouse {
     opt: LighthouseOpt,
     listener: Mutex<Option<tokio::net::TcpListener>>,
     local_addr: SocketAddr,
+    change_logger: ChangeLogger,
+}
+
+struct ChangeLogger {
+    last_reason: std::sync::Mutex<Option<String>>,
+}
+impl ChangeLogger {
+    fn new() -> Self {
+        ChangeLogger {
+            last_reason: std::sync::Mutex::new(None),
+        }
+    }
+    fn log_if_changed(&self, reason: &str) {
+        let mut last_reason = self.last_reason.lock().unwrap();
+        if last_reason.as_deref() != Some(reason) {
+            info!("Quorum status: {}", reason);
+            *last_reason = Some(reason.to_string());
+        }
+    }
 }
 
 #[derive(StructOpt, Debug)]
@@ -257,12 +277,13 @@ impl Lighthouse {
             opt: opt,
             local_addr: listener.local_addr()?,
             listener: Mutex::new(Some(listener)),
+            change_logger: ChangeLogger::new(),
         }))
     }
 
     fn _quorum_tick(self: Arc<Self>, state: &mut State) -> Result<()> {
         let (quorum_met, reason) = quorum_compute(Instant::now(), state, &self.opt);
-        info!("Next quorum status: {}", reason);
+        self.change_logger.log_if_changed(&reason);
 
         if quorum_met.is_some() {
             let participants = quorum_met.unwrap();
@@ -448,7 +469,10 @@ impl LighthouseService for Arc<Lighthouse> {
             .requester
             .ok_or_else(|| return Status::invalid_argument("missing requester"))?;
 
-        info!("got quorum request for replica {}", &requester.replica_id);
+        info!(
+            "Received quorum request for replica {}",
+            &requester.replica_id
+        );
 
         let mut rx = {
             let mut state = self.state.lock().await;
diff --git a/src/manager.rs b/src/manager.rs
index 931e995..bd14783 100644
--- a/src/manager.rs
+++ b/src/manager.rs
@@ -37,6 +37,21 @@ use log::{info, warn};
 #[cfg(test)]
 use std::{println as info, println as warn};
 
+// The replica_id string is of the form {replica_name}:{uuid} or just {uuid} (see torchft/manager.py)
+// We can parse the replica_id if it exists, otherwise we just use the uuid
+macro_rules! info_with_replica {
+    ($replica_id:expr, $($arg:tt)*) => {{
+        let parts: Vec<&str> = $replica_id.splitn(2, ':').collect();
+        let formatted_message = if parts.len() == 2 {
+            // If there are two parts, use the replica name
+            info!("[Replica {}] {}", parts[0], format!($($arg)*))
+        } else {
+            // Otherwise, just use the UUID
+            info!("[Replica {}] {}", $replica_id, format!($($arg)*))
+        };
+    }};
+}
+
 struct ManagerState {
     checkpoint_metadata: HashMap<i64, String>,
     channel: broadcast::Sender<Quorum>,
@@ -63,7 +78,10 @@ pub async fn manager_client_new(
     addr: String,
     connect_timeout: Duration,
 ) -> Result<ManagerServiceClient<Channel>> {
-    info!("ManagerClient: establishing connection to {}", &addr);
+    info!(
+        "Creating ManagerClient: establishing connection to {}",
+        &addr
+    );
     let conn = connect(addr, connect_timeout).await?;
     Ok(ManagerServiceClient::new(conn))
 }
@@ -72,7 +90,10 @@ pub async fn lighthouse_client_new(
     addr: String,
     connect_timeout: Duration,
 ) -> Result<LighthouseServiceClient<Channel>> {
-    info!("LighthouseClient: establishing connection to {}", &addr);
+    info!(
+        "Creating LighthouseClient: establishing connection to {}",
+        &addr
+    );
     let conn = connect(addr, connect_timeout).await?;
     Ok(LighthouseServiceClient::new(conn))
 }
@@ -135,11 +156,7 @@ impl Manager {
     }
 
     async fn _run_grpc(self: Arc<Self>) -> Result<()> {
-        info!(
-            "Manager {} listening on {}",
-            self.replica_id,
-            self.address()
-        );
+        info_with_replica!(self.replica_id, "Manager listening on {}", self.address());
 
         let listener = self.listener.lock().await.take().unwrap();
         let incoming =
@@ -176,7 +193,7 @@ impl Manager {
         }
 
         state.participants.clear();
-        info!("all workers joined -- starting quorum");
+        info_with_replica!(self.replica_id, "All workers joined - starting quorum");
 
         // TODO: don't hold the lock during quorum
 
@@ -197,7 +214,7 @@ impl Manager {
             })?;
         let resp = response.into_inner();
 
-        info!("got lighthouse quorum {:?}", resp);
+        info_with_replica!(self.replica_id, "got lighthouse quorum {:?}", resp);
 
         state
             .channel
@@ -220,7 +237,7 @@ impl ManagerService for Arc<Manager> {
         let req = request.get_ref();
         let rank = req.rank;
 
-        info!("got quorum request for rank {}", rank);
+        info_with_replica!(self.replica_id, "Start quorum for rank {}", rank);
 
         let timeout = try_parse_grpc_timeout(&request.metadata())
             .map_err(|e| {
@@ -266,7 +283,7 @@ impl ManagerService for Arc<Manager> {
             .await
             .map_err(|e| Status::internal(e.to_string()))?;
 
-        info!("returning quorum for rank {}", rank);
+        info_with_replica!(self.replica_id, "Finished quorum for rank {}", rank);
 
         let reply = compute_quorum_results(&self.replica_id, rank, &quorum)?;
 
@@ -299,9 +316,11 @@ impl ManagerService for Arc<Manager> {
         let req = request.into_inner();
         let rank = req.rank;
 
-        info!(
+        info_with_replica!(
+            self.replica_id,
             "should_commit request from {} should_commit={}",
-            rank, req.should_commit
+            rank,
+            req.should_commit
         );
 
         // TODO: check step count
@@ -318,7 +337,11 @@ impl ManagerService for Arc<Manager> {
 
             if state.should_commit_count.len() == self.world_size as usize {
                 let decision = state.should_commit_failures.len() == 0;
-                info!("should_commit completed should_commit={}", decision);
+                info_with_replica!(
+                    self.replica_id,
+                    "should_commit completed should_commit={}",
+                    decision
+                );
 
                 state
                     .should_commit_channel
@@ -448,7 +471,8 @@ fn compute_quorum_results(
 
     let heal = recover_src_rank.is_some();
     if heal {
-        info!(
+        info_with_replica!(
+            replica_id,
             "healing is required step={}, max_step={}, recover_src_rank={}",
             step,
             max_step,
diff --git a/torchft/manager.py b/torchft/manager.py
index 668189c..0da48d0 100644
--- a/torchft/manager.py
+++ b/torchft/manager.py
@@ -189,9 +189,13 @@ def __init__(
             bind = f"[::]:{port}"
             lighthouse_addr = lighthouse_addr or os.environ["TORCHFT_LIGHTHOUSE"]
 
-            if replica_id is None:
-                replica_id = ""
-            replica_id = replica_id + str(uuid.uuid4())
+            # We need a unique identifier in the case that a worker restarts quickly and
+            # replaces the previous worker with the same ID.
+            new_uuid = str(uuid.uuid4())
+            if replica_id is None or replica_id == "":
+                replica_id = new_uuid
+            else:
+                replica_id = f"{replica_id}:{new_uuid}"
             self._manager = ManagerServer(
                 replica_id=replica_id,
                 lighthouse_addr=lighthouse_addr,