diff --git a/modules/rtp_rtcp/source/rtcp_transceiver.cc b/modules/rtp_rtcp/source/rtcp_transceiver.cc
index e5ad3bae95..77b10ca052 100644
--- a/modules/rtp_rtcp/source/rtcp_transceiver.cc
+++ b/modules/rtp_rtcp/source/rtcp_transceiver.cc
@@ -19,6 +19,12 @@
 #include "rtc_base/timeutils.h"
 
 namespace webrtc {
+namespace {
+struct Destructor {
+  void operator()() { rtcp_transceiver = nullptr; }
+  std::unique_ptr<RtcpTransceiverImpl> rtcp_transceiver;
+};
+}  // namespace
 
 RtcpTransceiver::RtcpTransceiver(const RtcpTransceiverConfig& config)
     : task_queue_(config.task_queue),
@@ -29,29 +35,12 @@ RtcpTransceiver::RtcpTransceiver(const RtcpTransceiverConfig& config)
 RtcpTransceiver::~RtcpTransceiver() {
   if (!rtcp_transceiver_)
     return;
-  RTC_CHECK(!task_queue_->IsCurrent());
-
-  rtc::Event done(false, false);
-  // TODO(danilchap): Merge cleanup into main closure when task queue does not
-  // silently drop tasks.
-  task_queue_->PostTask(rtc::NewClosure(
-      [this] {
-        // Destructor steps that better run on the task_queue_.
-        rtcp_transceiver_.reset();
-      },
-      /*cleanup=*/[&done] { done.Set(); }));
-  // Wait until destruction is complete to guarantee callbacks are not used
-  // after destructor returns.
-  done.Wait(rtc::Event::kForever);
-  RTC_CHECK(!rtcp_transceiver_) << "Task queue is too busy to handle rtcp";
+  task_queue_->PostTask(Destructor{std::move(rtcp_transceiver_)});
+  RTC_DCHECK(!rtcp_transceiver_);
 }
 
 void RtcpTransceiver::Stop(std::unique_ptr<rtc::QueuedTask> on_destroyed) {
   RTC_DCHECK(rtcp_transceiver_);
-  struct Destructor {
-    void operator()() { rtcp_transceiver = nullptr; }
-    std::unique_ptr<RtcpTransceiverImpl> rtcp_transceiver;
-  };
   task_queue_->PostTaskAndReply(Destructor{std::move(rtcp_transceiver_)},
                                 std::move(on_destroyed));
   RTC_DCHECK(!rtcp_transceiver_);
diff --git a/modules/rtp_rtcp/source/rtcp_transceiver.h b/modules/rtp_rtcp/source/rtcp_transceiver.h
index e3e7cfa569..9f823cccf3 100644
--- a/modules/rtp_rtcp/source/rtcp_transceiver.h
+++ b/modules/rtp_rtcp/source/rtcp_transceiver.h
@@ -29,16 +29,18 @@ namespace webrtc {
 class RtcpTransceiver : public RtcpFeedbackSenderInterface {
  public:
   explicit RtcpTransceiver(const RtcpTransceiverConfig& config);
-  // Blocks unless Stop was called.
-  // TODO(danilchap): Change destructor to never block by breaking assumption
-  // callbacks are not used after destruction.
+  // Note that interfaces provided in constructor still might be used after the
+  // destructor. However they can only be used on the confic.task_queue.
+  // Use Stop function to get notified when they are no longer used or
+  // ensure those objects outlive the task queue.
   ~RtcpTransceiver() override;
 
   // Start asynchronious destruction of the RtcpTransceiver.
   // It is safe to call destructor right after Stop exits.
   // No other methods can be called.
-  // Note that observers provided in constructor or registered with AddObserver
-  // still might be used by the transceiver until |on_destroyed| runs.
+  // Note that interfaces provided in constructor or registered with AddObserver
+  // still might be used by the transceiver on the task queue
+  // until |on_destroyed| runs.
   void Stop(std::unique_ptr<rtc::QueuedTask> on_destroyed);
 
   // Registers observer to be notified about incoming rtcp packets.
diff --git a/modules/rtp_rtcp/source/rtcp_transceiver_unittest.cc b/modules/rtp_rtcp/source/rtcp_transceiver_unittest.cc
index 1ef199849e..2ea5bc9b53 100644
--- a/modules/rtp_rtcp/source/rtcp_transceiver_unittest.cc
+++ b/modules/rtp_rtcp/source/rtcp_transceiver_unittest.cc
@@ -47,8 +47,8 @@ void WaitPostedTasks(rtc::TaskQueue* queue) {
 }
 
 TEST(RtcpTransceiverTest, SendsRtcpOnTaskQueueWhenCreatedOffTaskQueue) {
-  rtc::TaskQueue queue("rtcp");
   MockTransport outgoing_transport;
+  rtc::TaskQueue queue("rtcp");
   RtcpTransceiverConfig config;
   config.outgoing_transport = &outgoing_transport;
   config.task_queue = &queue;
@@ -64,8 +64,8 @@ TEST(RtcpTransceiverTest, SendsRtcpOnTaskQueueWhenCreatedOffTaskQueue) {
 }
 
 TEST(RtcpTransceiverTest, SendsRtcpOnTaskQueueWhenCreatedOnTaskQueue) {
-  rtc::TaskQueue queue("rtcp");
   MockTransport outgoing_transport;
+  rtc::TaskQueue queue("rtcp");
   RtcpTransceiverConfig config;
   config.outgoing_transport = &outgoing_transport;
   config.task_queue = &queue;
@@ -83,39 +83,62 @@ TEST(RtcpTransceiverTest, SendsRtcpOnTaskQueueWhenCreatedOnTaskQueue) {
   WaitPostedTasks(&queue);
 }
 
-TEST(RtcpTransceiverTest, CanBeDestroyedOnTaskQueueAfterStop) {
-  rtc::TaskQueue queue("rtcp");
+TEST(RtcpTransceiverTest, CanBeDestroyedOnTaskQueue) {
   NiceMock<MockTransport> outgoing_transport;
+  rtc::TaskQueue queue("rtcp");
   RtcpTransceiverConfig config;
   config.outgoing_transport = &outgoing_transport;
   config.task_queue = &queue;
   auto rtcp_transceiver = absl::make_unique<RtcpTransceiver>(config);
-  rtcp_transceiver->Stop(rtc::NewClosure([] {}));
 
-  queue.PostTask([&] { rtcp_transceiver.reset(); });
+  queue.PostTask([&] {
+    // Insert a packet just before destruction to test for races.
+    rtcp_transceiver->SendCompoundPacket();
+    rtcp_transceiver.reset();
+  });
   WaitPostedTasks(&queue);
 }
 
-TEST(RtcpTransceiverTest, CanBeDestroyedWithoutBlockingAfterStop) {
+TEST(RtcpTransceiverTest, CanBeDestroyedWithoutBlocking) {
   rtc::TaskQueue queue("rtcp");
   NiceMock<MockTransport> outgoing_transport;
   RtcpTransceiverConfig config;
   config.outgoing_transport = &outgoing_transport;
   config.task_queue = &queue;
-  auto rtcp_transceiver = absl::make_unique<RtcpTransceiver>(config);
+  auto* rtcp_transceiver = new RtcpTransceiver(config);
   rtcp_transceiver->SendCompoundPacket();
 
-  rtc::Event heavy_task(false, false);
-  queue.PostTask(
-      rtc::NewClosure([&] { EXPECT_TRUE(heavy_task.Wait(kTimeoutMs)); }));
   rtc::Event done(false, false);
-  rtcp_transceiver->Stop(rtc::NewClosure([&done] { done.Set(); }));
-  rtcp_transceiver = nullptr;
+  rtc::Event heavy_task(false, false);
+  queue.PostTask([&] {
+    EXPECT_TRUE(heavy_task.Wait(kTimeoutMs));
+    done.Set();
+  });
+  delete rtcp_transceiver;
 
   heavy_task.Set();
   EXPECT_TRUE(done.Wait(kTimeoutMs));
 }
 
+TEST(RtcpTransceiverTest, MaySendPacketsAfterDestructor) {  // i.e. Be careful!
+  NiceMock<MockTransport> outgoing_transport;  // Must outlive queue below.
+  rtc::TaskQueue queue("rtcp");
+  RtcpTransceiverConfig config;
+  config.outgoing_transport = &outgoing_transport;
+  config.task_queue = &queue;
+  auto* rtcp_transceiver = new RtcpTransceiver(config);
+
+  rtc::Event heavy_task(false, false);
+  queue.PostTask([&] { EXPECT_TRUE(heavy_task.Wait(kTimeoutMs)); });
+  rtcp_transceiver->SendCompoundPacket();
+  delete rtcp_transceiver;
+
+  EXPECT_CALL(outgoing_transport, SendRtcp);
+  heavy_task.Set();
+
+  WaitPostedTasks(&queue);
+}
+
 // Use rtp timestamp to distinguish different incoming sender reports.
 rtc::CopyOnWriteBuffer CreateSenderReport(uint32_t ssrc, uint32_t rtp_time) {
   webrtc::rtcp::SenderReport sr;