diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 4d1c60d4ab..3638dd5441 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -101,6 +101,10 @@ class CarController():
       # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
       pcm_cancel_cmd = True
 
+    # Never send cancel command if we never enter cruise state (pedal)
+    # Cancel cmd causes brakes to release at a standstill
+    pcm_cancel_cmd &= CS.CP.enableCruise
+
     # *** rate limit after the enable check ***
     self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 22d10b5c64..cfd81bc451 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -450,7 +450,7 @@ class Controls:
     CC.actuators = actuators
 
     CC.cruiseControl.override = True
-    CC.cruiseControl.cancel = (not self.CP.enableCruise and not self.CP.enableGasInterceptor) or (not self.enabled and CS.cruiseState.enabled)
+    CC.cruiseControl.cancel = not self.CP.enableCruise or (not self.enabled and CS.cruiseState.enabled)
 
     # Some override values for Honda
     # brake discount removes a sharp nonlinearity