diff --git a/RELEASENOTES.md b/RELEASENOTES.md
index 6d3ea9ac62..63d2cacbdd 100644
--- a/RELEASENOTES.md
+++ b/RELEASENOTES.md
@@ -35,6 +35,9 @@
 *   Muxers:
 *   IMA extension:
 *   Session:
+    *   Keep notification visible when playback enters an error or stopped
+        state. The notification is only removed if the playlist is cleared or
+        the player is released.
 *   UI:
 *   Downloads:
 *   OkHttp Extension:
diff --git a/libraries/session/src/main/java/androidx/media3/session/MediaNotificationManager.java b/libraries/session/src/main/java/androidx/media3/session/MediaNotificationManager.java
index 14f2406a97..fc4ccdce6d 100644
--- a/libraries/session/src/main/java/androidx/media3/session/MediaNotificationManager.java
+++ b/libraries/session/src/main/java/androidx/media3/session/MediaNotificationManager.java
@@ -251,9 +251,7 @@ import java.util.concurrent.TimeoutException;
 
   private boolean shouldShowNotification(MediaSession session) {
     MediaController controller = getConnectedControllerForSession(session);
-    return controller != null
-        && !controller.getCurrentTimeline().isEmpty()
-        && controller.getPlaybackState() != Player.STATE_IDLE;
+    return controller != null && !controller.getCurrentTimeline().isEmpty();
   }
 
   @Nullable
diff --git a/libraries/session/src/test/java/androidx/media3/session/MediaSessionServiceTest.java b/libraries/session/src/test/java/androidx/media3/session/MediaSessionServiceTest.java
index aeb6908a00..97daf26a99 100644
--- a/libraries/session/src/test/java/androidx/media3/session/MediaSessionServiceTest.java
+++ b/libraries/session/src/test/java/androidx/media3/session/MediaSessionServiceTest.java
@@ -67,6 +67,55 @@ public class MediaSessionServiceTest {
         (NotificationManager) context.getSystemService(Context.NOTIFICATION_SERVICE);
   }
 
+  @Test
+  public void service_sessionIdleNoMedia_createsNoNotification() {
+    ExoPlayer player = new TestExoPlayerBuilder(context).build();
+    MediaSession session = new MediaSession.Builder(context, player).build();
+    ServiceController<TestService> serviceController = Robolectric.buildService(TestService.class);
+    TestService service = serviceController.create().get();
+    service.setMediaNotificationProvider(
+        new DefaultMediaNotificationProvider(
+            service,
+            /* notificationIdProvider= */ unused -> 2000,
+            DefaultMediaNotificationProvider.DEFAULT_CHANNEL_ID,
+            DefaultMediaNotificationProvider.DEFAULT_CHANNEL_NAME_RESOURCE_ID));
+    service.addSession(session);
+
+    // Give the service a chance to create a notification.
+    ShadowLooper.idleMainLooper();
+
+    assertThat(getStatusBarNotification(2000)).isNull();
+
+    session.release();
+    player.release();
+    serviceController.destroy();
+  }
+
+  @Test
+  public void service_sessionIdleWithMedia_createsNotification() {
+    ExoPlayer player = new TestExoPlayerBuilder(context).build();
+    MediaSession session = new MediaSession.Builder(context, player).build();
+    ServiceController<TestService> serviceController = Robolectric.buildService(TestService.class);
+    TestService service = serviceController.create().get();
+    service.setMediaNotificationProvider(
+        new DefaultMediaNotificationProvider(
+            service,
+            /* notificationIdProvider= */ unused -> 2000,
+            DefaultMediaNotificationProvider.DEFAULT_CHANNEL_ID,
+            DefaultMediaNotificationProvider.DEFAULT_CHANNEL_NAME_RESOURCE_ID));
+    service.addSession(session);
+
+    // Add media and give the service a chance to create a notification.
+    player.setMediaItem(MediaItem.fromUri("asset:///media/mp4/sample.mp4"));
+    ShadowLooper.idleMainLooper();
+
+    assertThat(getStatusBarNotification(2000)).isNotNull();
+
+    session.release();
+    player.release();
+    serviceController.destroy();
+  }
+
   @Test
   public void service_multipleSessionsOnMainThread_createsNotificationForEachSession() {
     ExoPlayer player1 = new TestExoPlayerBuilder(context).build();