diff --git a/python/ray/tests/test_component_failures.py b/python/ray/tests/test_component_failures.py
index f2b55208e..e55793ab4 100644
--- a/python/ray/tests/test_component_failures.py
+++ b/python/ray/tests/test_component_failures.py
@@ -2,6 +2,7 @@ from __future__ import absolute_import
 from __future__ import division
 from __future__ import print_function
 
+import json
 import os
 import signal
 import sys
@@ -311,8 +312,12 @@ def check_components_alive(cluster, component_type, check_component_alive):
 @pytest.mark.parametrize(
     "ray_start_cluster", [{
         "num_cpus": 8,
-        "num_nodes": 4
-    }], indirect=True)
+        "num_nodes": 4,
+        "_internal_config": json.dumps({
+            "num_heartbeats_timeout": 100
+        }),
+    }],
+    indirect=True)
 def test_raylet_failed(ray_start_cluster):
     cluster = ray_start_cluster
     # Kill all raylets on worker nodes.
@@ -329,8 +334,12 @@ def test_raylet_failed(ray_start_cluster):
 @pytest.mark.parametrize(
     "ray_start_cluster", [{
         "num_cpus": 8,
-        "num_nodes": 2
-    }], indirect=True)
+        "num_nodes": 2,
+        "_internal_config": json.dumps({
+            "num_heartbeats_timeout": 100
+        }),
+    }],
+    indirect=True)
 def test_plasma_store_failed(ray_start_cluster):
     cluster = ray_start_cluster
     # Kill all plasma stores on worker nodes.
diff --git a/src/ray/rpc/raylet/raylet_client.cc b/src/ray/rpc/raylet/raylet_client.cc
index c6cfc2f05..83272fae1 100644
--- a/src/ray/rpc/raylet/raylet_client.cc
+++ b/src/ray/rpc/raylet/raylet_client.cc
@@ -77,10 +77,18 @@ ray::Status RayletClient::SubmitTask(const ray::TaskSpecification &task_spec) {
   SubmitTaskRequest submit_task_request;
   submit_task_request.mutable_task_spec()->CopyFrom(task_spec.GetMessage());
 
-  grpc::ClientContext context;
-  SubmitTaskReply reply;
-  auto status = stub_->SubmitTask(&context, submit_task_request, &reply);
-  return GrpcStatusToRayStatus(status);
+  auto callback = [this](const Status &status, const SubmitTaskReply &reply) {
+    if (!status.ok() && is_connected_) {
+      is_connected_ = false;
+      RAY_LOG(INFO) << "Failed to send SubmitTaskRequest, msg: " << status.message();
+    }
+  };
+
+  auto call =
+      client_call_manager_.CreateCall<RayletService, SubmitTaskRequest, SubmitTaskReply>(
+          *stub_, &RayletService::Stub::PrepareAsyncSubmitTask, submit_task_request,
+          callback);
+  return call->GetStatus();
 }
 
 ray::Status RayletClient::GetTask(std::unique_ptr<ray::TaskSpecification> *task_spec) {