diff --git a/sys/ztimer/periodic.c b/sys/ztimer/periodic.c
index ddd82b8d771c7..254d69d1b3d5c 100644
--- a/sys/ztimer/periodic.c
+++ b/sys/ztimer/periodic.c
@@ -57,18 +57,22 @@ void ztimer_periodic_init(ztimer_clock_t *clock, ztimer_periodic_t *timer,
                           bool (*callback)(
                               void *), void *arg, uint32_t interval)
 {
-    ztimer_remove(clock, &timer->timer);
+    /* check if this is a reinit, ensure timer is stopped in case */
+    if (timer->timer.callback == _ztimer_periodic_callback) {
+        ztimer_periodic_stop(timer);
+    }
     *timer =
         (ztimer_periodic_t){ .clock = clock, .interval = interval,
                              .callback = callback, .arg = arg,
                              .timer = {
-                                 .callback = _ztimer_periodic_callback,
-                                 .arg = timer
+                                 .callback = _ztimer_periodic_callback
                              } };
 }
 
 void ztimer_periodic_start(ztimer_periodic_t *timer)
 {
+    ztimer_periodic_stop(timer);
+    timer->timer.arg = timer;
     ztimer_acquire(timer->clock);
 
     uint32_t now = ztimer_now(timer->clock);
@@ -79,7 +83,9 @@ void ztimer_periodic_start(ztimer_periodic_t *timer)
 
 void ztimer_periodic_stop(ztimer_periodic_t *timer)
 {
-    ztimer_remove(timer->clock, &timer->timer);
-
-    ztimer_release(timer->clock);
+    if (timer->timer.arg == timer) {
+        ztimer_remove(timer->clock, &timer->timer);
+        ztimer_release(timer->clock);
+        timer->timer.arg = NULL;
+    }
 }