diff --git a/stdlib/Distributed/src/cluster.jl b/stdlib/Distributed/src/cluster.jl
index e1d4bae511d91..288e55197be0a 100644
--- a/stdlib/Distributed/src/cluster.jl
+++ b/stdlib/Distributed/src/cluster.jl
@@ -245,6 +245,11 @@ function redirect_worker_output(ident, stream)
     end
 end
 
+struct LaunchWorkerError <: Exception
+    msg::String
+end
+
+Base.showerror(io::IO, e::LaunchWorkerError) = print(io, e.msg)
 
 # The default TCP transport relies on the worker listening on a free
 # port available and printing its bind address and port.
@@ -276,7 +281,7 @@ function read_worker_host_port(io::IO)
 
             conninfo = fetch(readtask)
             if isempty(conninfo) && !isopen(io)
-                error("Unable to read host:port string from worker. Launch command exited with error?")
+                throw(LaunchWorkerError("Unable to read host:port string from worker. Launch command exited with error?"))
             end
 
             ntries -= 1
@@ -290,13 +295,13 @@ function read_worker_host_port(io::IO)
         end
         close(io)
         if ntries > 0
-            error("Timed out waiting to read host:port string from worker.")
+            throw(LaunchWorkerError("Timed out waiting to read host:port string from worker."))
         else
-            error("Unexpected output from worker launch command. Host:port string not found.")
+            throw(LaunchWorkerError("Unexpected output from worker launch command. Host:port string not found."))
         end
     finally
         for line in leader
-            println("\tFrom failed worker startup:\t", line)
+            println("\tFrom worker startup:\t", line)
         end
     end
 end
@@ -358,6 +363,34 @@ the package `ClusterManagers.jl`.
 The number of seconds a newly launched worker waits for connection establishment from the
 master can be specified via variable `JULIA_WORKER_TIMEOUT` in the worker process's
 environment. Relevant only when using TCP/IP as transport.
+
+To launch workers without blocking the REPL, or the containing function
+if launching workers programmatically, execute `addprocs` in its own task.
+
+# Examples
+
+```
+# On busy clusters, call `addprocs` asynchronously
+t = @async addprocs(...)
+```
+
+```
+# Utilize workers as and when they come online
+if nprocs() > 1   # Ensure at least one new worker is available
+   ....   # perform distributed execution
+end
+```
+
+```
+# Retrieve newly launched worker IDs, or any error messages
+if istaskdone(t)   # Check if `addprocs` has completed to ensure `fetch` doesn't block
+    if nworkers() == N
+        new_pids = fetch(t)
+    else
+        fetch(t)
+    end
+  end
+```
 """
 function addprocs(manager::ClusterManager; kwargs...)
     init_multi()
@@ -503,9 +536,13 @@ function create_worker(manager, wconfig)
     local r_s, w_s
     try
         (r_s, w_s) = connect(manager, w.id, wconfig)
-    catch e
-        deregister_worker(w.id)
-        rethrow(e)
+    catch ex
+        try
+            deregister_worker(w.id)
+            kill(manager, w.id, wconfig)
+        finally
+            rethrow(ex)
+        end
     end
 
     w = Worker(w.id, r_s, w_s, manager; config=wconfig)
diff --git a/stdlib/Distributed/test/distributed_exec.jl b/stdlib/Distributed/test/distributed_exec.jl
index 383a6783a311d..1248fa840fc87 100644
--- a/stdlib/Distributed/test/distributed_exec.jl
+++ b/stdlib/Distributed/test/distributed_exec.jl
@@ -1129,7 +1129,7 @@ for (addp_testf, expected_errstr, env) in testruns
     old_stdout = stdout
     stdout_out, stdout_in = redirect_stdout()
     stdout_txt = @async filter!(readlines(stdout_out)) do s
-            return !startswith(s, "\tFrom failed worker startup:\t")
+            return !startswith(s, "\tFrom worker startup:\t")
         end
     try
         withenv(env...) do