diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 60bb620377..b6e4726c7f 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -32,7 +32,7 @@ class CarController():
         # TODO: improve the resume trigger logic by looking at actual radar data
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
-    if c.cruiseControl.cancel or (CS.out.cruiseState.enabled and not c.enabled):
+    if c.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
       # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 8b30c11249..eceb0cc75a 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -24,7 +24,6 @@ class CarController():
     can_sends = []
 
     ### STEER ###
-    acc_active = CS.out.cruiseState.enabled
     lkas_hud_msg = CS.lkas_hud_msg
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
@@ -58,10 +57,6 @@ class CarController():
 
     self.last_angle = apply_angle
 
-    if not enabled and acc_active:
-      # send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
-      cruise_cancel = 1
-
     if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
         can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
 
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index 03f09f2407..69caf5876e 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -50,10 +50,6 @@ class CarController():
     if hands_on_fault:
       cruise_cancel = True
 
-    # Cancel when openpilot is not enabled anymore
-    if not enabled and bool(CS.out.cruiseState.enabled):
-      cruise_cancel = True
-
     if ((frame % 10) == 0 and cruise_cancel):
       # Spam every possible counter value, otherwise it might not be accepted
       for counter in range(16):
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 4400d050ce..63d79aaf05 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -88,7 +88,7 @@ class CarController():
 
     if CS.CP.pcmCruise:
       if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
-        if not enabled and CS.out.cruiseState.enabled:
+        if c.cruiseControl.cancel:
           # Cancel ACC if it's engaged with OP disengaged.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["cancel"] = True