diff --git a/launch/launch/launch_service.py b/launch/launch/launch_service.py
index 2e1719edf..a25672079 100644
--- a/launch/launch/launch_service.py
+++ b/launch/launch/launch_service.py
@@ -18,7 +18,6 @@
 import collections.abc
 import contextlib
 import logging
-import platform
 import signal
 import threading
 import traceback
@@ -185,37 +184,28 @@ def _prepare_run_loop(self):
                 this_task = asyncio.Task.current_task(this_loop)
 
             self.__this_task = this_task
-            # Setup custom signal handlers for SIGINT, SIGTERM and maybe SIGQUIT.
-            sigint_received = False
-
-            def _on_sigint(signum):
-                nonlocal sigint_received
-                base_msg = 'user interrupted with ctrl-c (SIGINT)'
-                if not sigint_received:
+            # Setup custom signal handlers for SIGINT & SIGTERM
+            signals_received = set()
+
+            def _on_signal(signum):
+                nonlocal signals_received
+                signal_name = signal.Signals(signum).name
+                base_msg = 'caught ' + signal_name
+                if signal_name not in signals_received:
+                    signals_received.add(signal_name)
+                    due_to_sigint = True if signal_name == 'SIGINT' else False
                     self.__logger.warning(base_msg)
                     ret = self._shutdown(
-                        reason='ctrl-c (SIGINT)', due_to_sigint=True, force_sync=True
+                        reason=base_msg, due_to_sigint=due_to_sigint, force_sync=True
                     )
                     assert ret is None, ret
-                    sigint_received = True
                 else:
                     self.__logger.warning('{} again, ignoring...'.format(base_msg))
 
-            def _on_sigterm(signum):
-                signame = signal.Signals(signum).name
-                self.__logger.error(
-                    'user interrupted with ctrl-\\ ({}), terminating...'.format(signame))
-                # TODO(wjwwood): try to terminate running subprocesses before exiting.
-                self.__logger.error('using {} can result in orphaned processes'.format(signame))
-                self.__logger.error('make sure no processes launched are still running')
-                this_loop.call_soon(this_task.cancel)
-
             with AsyncSafeSignalManager(this_loop) as manager:
                 # Setup signal handlers
-                manager.handle(signal.SIGINT, _on_sigint)
-                manager.handle(signal.SIGTERM, _on_sigterm)
-                if platform.system() != 'Windows':
-                    manager.handle(signal.SIGQUIT, _on_sigterm)
+                manager.handle(signal.SIGINT, _on_signal)
+                manager.handle(signal.SIGTERM, _on_signal)
                 # Yield asyncio loop and current task.
                 yield this_loop, this_task
         finally:
diff --git a/launch/launch/utilities/signal_management.py b/launch/launch/utilities/signal_management.py
index a078c69d7..ee9ab1365 100644
--- a/launch/launch/utilities/signal_management.py
+++ b/launch/launch/utilities/signal_management.py
@@ -235,6 +235,7 @@ def handle(
         :return: previous handler if any, otherwise None
         """
         signum = signal.Signals(signum)
+        signal.signal(signum, signal.default_int_handler)
         if handler is not None:
             if not callable(handler):
                 raise ValueError('signal handler must be a callable')
diff --git a/launch/test/launch/utilities/test_signal_management.py b/launch/test/launch/utilities/test_signal_management.py
index d95d2a9c7..15ceffcd4 100644
--- a/launch/test/launch/utilities/test_signal_management.py
+++ b/launch/test/launch/utilities/test_signal_management.py
@@ -25,19 +25,19 @@
 
 
 def cap_signals(*signals):
-    def _noop(*args):
-        pass
-
     def _decorator(func):
         @functools.wraps(func)
         def _wrapper(*args, **kwargs):
             handlers = {}
             try:
                 for s in signals:
-                    handlers[s] = signal.signal(s, _noop)
+                    handlers[s] = signal.signal(s, signal.default_int_handler)
                 return func(*args, **kwargs)
+            except KeyboardInterrupt:
+                pass
             finally:
-                assert all(signal.signal(s, h) is _noop for s, h in handlers.items())
+                assert all(signal.signal(s, h) is signal.default_int_handler
+                           for s, h in handlers.items())
         return _wrapper
 
     return _decorator