diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index c47972e177..9109150df7 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -132,15 +132,14 @@ class CarController(object):
     apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
     # any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
-    if CS.steer_not_allowed:
-      apply_steer = 0
+    lkas_active = enabled and not CS.steer_not_allowed
 
     # Send CAN commands.
     can_sends = []
 
     # Send steering command.
     idx = frame % 4
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, enabled, CS.CP.carFingerprint, idx))
+    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lkas_active, CS.CP.carFingerprint, idx))
 
     # Send dashboard UI commands.
     if (frame % 10) == 0:
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index a5426453db..9dfb120088 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -63,11 +63,11 @@ def create_gas_command(packer, gas_amount, idx):
   return packer.make_can_msg("GAS_COMMAND", 0, values, idx)
 
 
-def create_steering_control(packer, apply_steer, enabled, car_fingerprint, idx):
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx):
   """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
   values = {
-    "STEER_TORQUE": apply_steer,
-    "STEER_TORQUE_REQUEST": enabled,
+    "STEER_TORQUE": apply_steer if lkas_active else 0,
+    "STEER_TORQUE_REQUEST": lkas_active,
   }
   # Set bus 2 for accord and new crv.
   bus = 2 if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH) else 0