diff --git a/jetstream/pull.go b/jetstream/pull.go
index a97d75e7a..d0a7138ac 100644
--- a/jetstream/pull.go
+++ b/jetstream/pull.go
@@ -507,7 +507,7 @@ func (s *pullSubscription) Next() (Msg, error) {
 	if closed && !drainMode {
 		return nil, ErrMsgIteratorClosed
 	}
-	hbMonitor := s.scheduleHeartbeatCheck(2 * s.consumeOpts.Heartbeat)
+	hbMonitor := s.scheduleHeartbeatCheck(s.consumeOpts.Heartbeat)
 	defer func() {
 		if hbMonitor != nil {
 			hbMonitor.Stop()
diff --git a/jetstream/test/pull_test.go b/jetstream/test/pull_test.go
index dcca6d1c5..657e4db06 100644
--- a/jetstream/test/pull_test.go
+++ b/jetstream/test/pull_test.go
@@ -1790,6 +1790,52 @@ func TestPullConsumerMessages(t *testing.T) {
 		}
 	})
 
+	t.Run("with idle heartbeat", func(t *testing.T) {
+		srv := RunBasicJetStreamServer()
+		defer shutdownJSServerAndRemoveStorage(t, srv)
+		nc, err := nats.Connect(srv.ClientURL())
+		if err != nil {
+			t.Fatalf("Unexpected error: %v", err)
+		}
+
+		js, err := jetstream.New(nc)
+		if err != nil {
+			t.Fatalf("Unexpected error: %v", err)
+		}
+		defer nc.Close()
+
+		ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
+		defer cancel()
+		s, err := js.CreateStream(ctx, jetstream.StreamConfig{Name: "foo", Subjects: []string{"FOO.*"}})
+		if err != nil {
+			t.Fatalf("Unexpected error: %v", err)
+		}
+		c, err := s.CreateOrUpdateConsumer(ctx, jetstream.ConsumerConfig{AckPolicy: jetstream.AckExplicitPolicy})
+		if err != nil {
+			t.Fatalf("Unexpected error: %v", err)
+		}
+		// remove consumer to force missing heartbeats
+		if err := s.DeleteConsumer(ctx, c.CachedInfo().Name); err != nil {
+			t.Fatalf("Error deleting consumer: %s", err)
+		}
+
+		it, err := c.Messages(jetstream.PullHeartbeat(500 * time.Millisecond))
+		if err != nil {
+			t.Fatalf("Unexpected error: %v", err)
+		}
+		defer it.Stop()
+		now := time.Now()
+		_, err = it.Next()
+		elapsed := time.Since(now)
+		if !errors.Is(err, jetstream.ErrNoHeartbeat) {
+			t.Fatalf("Expected error: %v; got: %v", jetstream.ErrNoHeartbeat, err)
+		}
+		// we should get missing heartbeat error after approximately 2*heartbeat interval
+		if elapsed < time.Second || elapsed > 1500*time.Millisecond {
+			t.Fatalf("Unexpected elapsed time; want 1-1.5s; got %v", elapsed)
+		}
+	})
+
 	t.Run("no messages received after stop", func(t *testing.T) {
 		srv := RunBasicJetStreamServer()
 		defer shutdownJSServerAndRemoveStorage(t, srv)
@@ -2488,7 +2534,7 @@ func TestPullConsumerConsume(t *testing.T) {
 		}
 	})
 
-	t.Run("with idle heartbeat", func(t *testing.T) {
+	t.Run("with missing heartbeat", func(t *testing.T) {
 		srv := RunBasicJetStreamServer()
 		defer shutdownJSServerAndRemoveStorage(t, srv)
 		nc, err := nats.Connect(srv.ClientURL())
@@ -2513,27 +2559,35 @@ func TestPullConsumerConsume(t *testing.T) {
 			t.Fatalf("Unexpected error: %v", err)
 		}
 
-		msgs := make([]jetstream.Msg, 0)
-		wg := &sync.WaitGroup{}
-		wg.Add(len(testMsgs))
-		l, err := c.Consume(func(msg jetstream.Msg) {
-			msgs = append(msgs, msg)
-			wg.Done()
-		}, jetstream.PullMaxBytes(1*time.Second))
+		// delete consumer to force missing heartbeat error
+		if err := s.DeleteConsumer(ctx, c.CachedInfo().Name); err != nil {
+			t.Fatalf("Error deleting consumer: %s", err)
+		}
+
+		errs := make(chan error, 1)
+		now := time.Now()
+		var elapsed time.Duration
+		l, err := c.Consume(func(msg jetstream.Msg) {},
+			jetstream.PullHeartbeat(500*time.Millisecond),
+			jetstream.ConsumeErrHandler(func(consumeCtx jetstream.ConsumeContext, err error) {
+				errs <- err
+			}))
 		if err != nil {
 			t.Fatalf("Unexpected error: %v", err)
 		}
 		defer l.Stop()
 
-		publishTestMsgs(t, js)
-		wg.Wait()
-		if len(msgs) != len(testMsgs) {
-			t.Fatalf("Unexpected received message count; want %d; got %d", len(testMsgs), len(msgs))
-		}
-		for i, msg := range msgs {
-			if string(msg.Data()) != testMsgs[i] {
-				t.Fatalf("Invalid msg on index %d; expected: %s; got: %s", i, testMsgs[i], string(msg.Data()))
+		select {
+		case err := <-errs:
+			if !errors.Is(err, jetstream.ErrNoHeartbeat) {
+				t.Fatalf("Expected error: %v; got: %v", jetstream.ErrNoHeartbeat, err)
+			}
+			elapsed = time.Since(now)
+			if elapsed < time.Second || elapsed > 1500*time.Millisecond {
+				t.Fatalf("Unexpected elapsed time; want between 1s and 1.5s; got %v", elapsed)
 			}
+		case <-time.After(5 * time.Second):
+			t.Fatalf("Timeout waiting for %v", jetstream.ErrNoHeartbeat)
 		}
 	})