diff --git a/.changelog/unreleased/improvements/3156-make-addvote-only-take-one-ps-mtx.md b/.changelog/unreleased/improvements/3156-make-addvote-only-take-one-ps-mtx.md
new file mode 100644
index 0000000000..215295c2cf
--- /dev/null
+++ b/.changelog/unreleased/improvements/3156-make-addvote-only-take-one-ps-mtx.md
@@ -0,0 +1,2 @@
+- `[consensus]` Make Vote messages only take one peerstate mutex
+  ([\#3156](https://github.com/cometbft/cometbft/issues/3156))
diff --git a/.changelog/v0.38.8/improvements/3211-make-cs-reactor-no-longer-takes-cs-locks.md b/.changelog/v0.38.8/improvements/3211-make-cs-reactor-no-longer-takes-cs-locks.md
new file mode 100644
index 0000000000..72fae64598
--- /dev/null
+++ b/.changelog/v0.38.8/improvements/3211-make-cs-reactor-no-longer-takes-cs-locks.md
@@ -0,0 +1,4 @@
+- `[consensus]` Make the consensus reactor no longer have packets on receive take the consensus lock.
+Consensus will now update the reactor's view after every relevant change through the existing 
+synchronous event bus subscription.
+  ([\#3211](https://github.com/cometbft/cometbft/pull/3211))
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5f6a8644ab..3e648c749d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,7 @@ It also includes a few other bug fixes and performance improvements.
 - `[indexer]` Fixed ineffective select break statements; they now
   point to their enclosing for loop label to exit
   ([\#3544](https://github.com/cometbft/cometbft/issues/3544))
+- [#91](https://github.com/osmosis-labs/cometbft/pull/91) perf(consensus): Minor improvement by making add vote only do one peer set mutex call, not 3 (#3156)
 
 ## v0.38.10
 
diff --git a/consensus/reactor.go b/consensus/reactor.go
index 65fb6c8a9a..53b2d2e78d 100644
--- a/consensus/reactor.go
+++ b/consensus/reactor.go
@@ -46,7 +46,10 @@ type Reactor struct {
 	mtx      cmtsync.RWMutex
 	waitSync bool
 	eventBus *types.EventBus
-	rs       *cstypes.RoundState
+
+	rsMtx         cmtsync.RWMutex
+	rs            *cstypes.RoundState
+	initialHeight int64 // under rsMtx
 
 	Metrics *Metrics
 }
@@ -57,10 +60,11 @@ type ReactorOption func(*Reactor)
 // consensusState.
 func NewReactor(consensusState *State, waitSync bool, options ...ReactorOption) *Reactor {
 	conR := &Reactor{
-		conS:     consensusState,
-		waitSync: waitSync,
-		rs:       consensusState.GetRoundState(),
-		Metrics:  NopMetrics(),
+		conS:          consensusState,
+		waitSync:      waitSync,
+		rs:            consensusState.GetRoundState(),
+		initialHeight: consensusState.state.InitialHeight,
+		Metrics:       NopMetrics(),
 	}
 	conR.BaseReactor = *p2p.NewBaseReactor("Consensus", conR)
 
@@ -260,9 +264,9 @@ func (conR *Reactor) Receive(e p2p.Envelope) {
 	case StateChannel:
 		switch msg := msg.(type) {
 		case *NewRoundStepMessage:
-			conR.conS.mtx.RLock()
-			initialHeight := conR.conS.state.InitialHeight
-			conR.conS.mtx.RUnlock()
+			conR.rsMtx.RLock()
+			initialHeight := conR.initialHeight
+			conR.rsMtx.RUnlock()
 			if err = msg.ValidateHeight(initialHeight); err != nil {
 				conR.Logger.Error("Peer sent us invalid msg", "peer", e.Src, "msg", msg, "err", err)
 				conR.Switch.StopPeerForError(e.Src, err)
@@ -274,10 +278,9 @@ func (conR *Reactor) Receive(e p2p.Envelope) {
 		case *HasVoteMessage:
 			ps.ApplyHasVoteMessage(msg)
 		case *VoteSetMaj23Message:
-			cs := conR.conS
-			cs.mtx.RLock()
-			height, votes := cs.Height, cs.Votes
-			cs.mtx.RUnlock()
+			conR.rsMtx.RLock()
+			height, votes := conR.rs.Height, conR.rs.Votes
+			conR.rsMtx.RUnlock()
 			if height != msg.Height {
 				return
 			}
@@ -342,12 +345,11 @@ func (conR *Reactor) Receive(e p2p.Envelope) {
 		switch msg := msg.(type) {
 		case *VoteMessage:
 			cs := conR.conS
-			cs.mtx.RLock()
-			height, valSize, lastCommitSize := cs.Height, cs.Validators.Size(), cs.LastCommit.Size()
-			cs.mtx.RUnlock()
-			ps.EnsureVoteBitArrays(height, valSize)
-			ps.EnsureVoteBitArrays(height-1, lastCommitSize)
-			ps.SetHasVote(msg.Vote)
+
+			conR.rsMtx.RLock()
+			height, valSize, lastCommitSize := conR.rs.Height, conR.rs.Validators.Size(), conR.rs.LastCommit.Size()
+			conR.rsMtx.RUnlock()
+			ps.SetHasVoteFromPeer(msg.Vote, height, valSize, lastCommitSize)
 
 			cs.peerMsgQueue <- msgInfo{msg, e.Src.ID()}
 
@@ -363,10 +365,9 @@ func (conR *Reactor) Receive(e p2p.Envelope) {
 		}
 		switch msg := msg.(type) {
 		case *VoteSetBitsMessage:
-			cs := conR.conS
-			cs.mtx.RLock()
-			height, votes := cs.Height, cs.Votes
-			cs.mtx.RUnlock()
+			conR.rsMtx.RLock()
+			height, votes := conR.rs.Height, conR.rs.Votes
+			conR.rsMtx.RUnlock()
 
 			if height == msg.Height {
 				var ourVotes *bits.BitArray
@@ -415,6 +416,7 @@ func (conR *Reactor) subscribeToBroadcastEvents() {
 	if err := conR.conS.evsw.AddListenerForEvent(subscriber, types.EventNewRoundStep,
 		func(data cmtevents.EventData) {
 			conR.broadcastNewRoundStepMessage(data.(*cstypes.RoundState))
+			conR.updateRoundStateNoCsLock()
 		}); err != nil {
 		conR.Logger.Error("Error adding listener for events", "err", err)
 	}
@@ -429,8 +431,9 @@ func (conR *Reactor) subscribeToBroadcastEvents() {
 	if err := conR.conS.evsw.AddListenerForEvent(subscriber, types.EventVote,
 		func(data cmtevents.EventData) {
 			conR.broadcastHasVoteMessage(data.(*types.Vote))
+			conR.updateRoundStateNoCsLock()
 		}); err != nil {
-		conR.Logger.Error("Error adding listener for events", "err", err)
+		conR.Logger.Error("Error adding listener for events (Vote)", "err", err)
 	}
 }
 
@@ -533,15 +536,23 @@ func (conR *Reactor) updateRoundStateRoutine() {
 			return
 		}
 		rs := conR.conS.GetRoundState()
-		conR.mtx.Lock()
+		conR.rsMtx.Lock()
 		conR.rs = rs
-		conR.mtx.Unlock()
+		conR.rsMtx.Unlock()
 	}
 }
 
+func (conR *Reactor) updateRoundStateNoCsLock() {
+	rs := conR.conS.getRoundState()
+	conR.rsMtx.Lock()
+	conR.rs = rs
+	conR.initialHeight = conR.conS.state.InitialHeight
+	conR.rsMtx.Unlock()
+}
+
 func (conR *Reactor) getRoundState() *cstypes.RoundState {
-	conR.mtx.RLock()
-	defer conR.mtx.RUnlock()
+	conR.rsMtx.RLock()
+	defer conR.rsMtx.RUnlock()
 	return conR.rs
 }
 
@@ -1354,6 +1365,16 @@ func (ps *PeerState) SetHasVote(vote *types.Vote) {
 	ps.setHasVote(vote.Height, vote.Round, vote.Type, vote.ValidatorIndex)
 }
 
+// SetHasVote sets the given vote as known by the peer.
+func (ps *PeerState) SetHasVoteFromPeer(vote *types.Vote, csHeight int64, valSize, lastCommitSize int) {
+	ps.mtx.Lock()
+	defer ps.mtx.Unlock()
+
+	ps.ensureVoteBitArrays(csHeight, valSize)
+	ps.ensureVoteBitArrays(csHeight-1, lastCommitSize)
+	ps.setHasVote(vote.Height, vote.Round, vote.Type, vote.ValidatorIndex)
+}
+
 func (ps *PeerState) setHasVote(height int64, round int32, voteType cmtproto.SignedMsgType, index int32) {
 	ps.logger.Debug("setHasVote",
 		"peerH/R",
diff --git a/consensus/state.go b/consensus/state.go
index 96ec4f8446..91bf8bf7a8 100644
--- a/consensus/state.go
+++ b/consensus/state.go
@@ -256,10 +256,18 @@ func (cs *State) GetLastHeight() int64 {
 }
 
 // GetRoundState returns a shallow copy of the internal consensus state.
+// This function is thread-safe.
 func (cs *State) GetRoundState() *cstypes.RoundState {
 	cs.mtx.RLock()
-	rs := cs.RoundState // copy
+	rs := cs.getRoundState()
 	cs.mtx.RUnlock()
+	return rs
+}
+
+// getRoundState returns a shallow copy of the internal consensus state.
+// This function is not thread-safe. Use GetRoundState for the thread-safe version.
+func (cs *State) getRoundState() *cstypes.RoundState {
+	rs := cs.RoundState // copy
 	return &rs
 }
 
diff --git a/libs/os/os.go b/libs/os/os.go
index 334eaf4c89..cfab38f48c 100644
--- a/libs/os/os.go
+++ b/libs/os/os.go
@@ -41,7 +41,7 @@ func Kill() error {
 }
 
 func Exit(s string) {
-	fmt.Printf(s + "\n")
+	fmt.Println(s)
 	os.Exit(1)
 }
 
diff --git a/types/validator_set_test.go b/types/validator_set_test.go
index 3070a43a9b..e795702105 100644
--- a/types/validator_set_test.go
+++ b/types/validator_set_test.go
@@ -331,7 +331,7 @@ func TestProposerSelection3(t *testing.T) {
 		got := vset.GetProposer().Address
 		expected := proposerOrder[j%4].Address
 		if !bytes.Equal(got, expected) {
-			t.Fatalf(fmt.Sprintf("vset.Proposer (%X) does not match expected proposer (%X) for (%d, %d)", got, expected, i, j))
+			t.Fatalf("vset.Proposer (%X) does not match expected proposer (%X) for (%d, %d)", got, expected, i, j)
 		}
 
 		// serialize, deserialize, check proposer
@@ -342,13 +342,11 @@ func TestProposerSelection3(t *testing.T) {
 		if i != 0 {
 			if !bytes.Equal(got, computed.Address) {
 				t.Fatalf(
-					fmt.Sprintf(
-						"vset.Proposer (%X) does not match computed proposer (%X) for (%d, %d)",
-						got,
-						computed.Address,
-						i,
-						j,
-					),
+					"vset.Proposer (%X) does not match computed proposer (%X) for (%d, %d)",
+					got,
+					computed.Address,
+					i,
+					j,
 				)
 			}
 		}