diff --git a/doc/faq.rst b/doc/faq.rst
index cbd8ffe0c..1d59ae09e 100644
--- a/doc/faq.rst
+++ b/doc/faq.rst
@@ -28,6 +28,16 @@ all other sockets are in use and the pool has reached its maximum, the
 thread pauses, waiting for a socket to be returned to the pool by another
 thread.
 
+It is possible to set the minimum number of concurrent connections to each
+server with ``minPoolSize``, which defaults to 0. The connection pool will be
+initialized with this number of sockets. If sockets are removed from the pool
+and closed, causing the total number of sockets (both in use and idle) to drop
+below the set minimum, more sockets will be added until the minimum is reached.
+
+The maximum number of milliseconds that a connection can remain idle in the
+pool before being removed and replaced can be set with ``maxIdleTime``, which
+defaults to `None` (no limit).
+
 The default configuration for a :class:`~pymongo.mongo_client.MongoClient`
 works for most applications::
 
diff --git a/pymongo/client_options.py b/pymongo/client_options.py
index 86a77ecc5..c2afe9b3b 100644
--- a/pymongo/client_options.py
+++ b/pymongo/client_options.py
@@ -98,6 +98,10 @@ def _parse_ssl_options(options):
 def _parse_pool_options(options):
     """Parse connection pool options."""
     max_pool_size = options.get('maxpoolsize', common.MAX_POOL_SIZE)
+    min_pool_size = options.get('minpoolsize', common.MIN_POOL_SIZE)
+    max_idle_time_ms = options.get('maxidletimems', common.MAX_IDLE_TIME_MS)
+    if max_pool_size is not None and min_pool_size > max_pool_size:
+        raise ValueError("minPoolSize must be smaller or equal to maxPoolSize")
     connect_timeout = options.get('connecttimeoutms', common.CONNECT_TIMEOUT)
     socket_keepalive = options.get('socketkeepalive', False)
     socket_timeout = options.get('sockettimeoutms')
@@ -106,6 +110,8 @@ def _parse_pool_options(options):
     event_listeners = options.get('event_listeners')
     ssl_context, ssl_match_hostname = _parse_ssl_options(options)
     return PoolOptions(max_pool_size,
+                       min_pool_size,
+                       max_idle_time_ms,
                        connect_timeout, socket_timeout,
                        wait_queue_timeout, wait_queue_multiple,
                        ssl_context, ssl_match_hostname, socket_keepalive,
diff --git a/pymongo/common.py b/pymongo/common.py
index 5384cafdf..9481879d4 100644
--- a/pymongo/common.py
+++ b/pymongo/common.py
@@ -64,6 +64,12 @@ CONNECT_TIMEOUT = 20.0
 # Default value for maxPoolSize.
 MAX_POOL_SIZE = 100
 
+# Default value for minPoolSize.
+MIN_POOL_SIZE = 0
+
+# Default value for maxIdleTimeMS.
+MAX_IDLE_TIME_MS = None
+
 # Default value for localThresholdMS.
 LOCAL_THRESHOLD_MS = 15
 
@@ -441,6 +447,8 @@ URI_VALIDATORS = {
     'tz_aware': validate_boolean_or_string,
     'uuidrepresentation': validate_uuid_representation,
     'connect': validate_boolean_or_string,
+    'event_listeners': _validate_event_listeners,
+    'minpoolsize': validate_non_negative_integer
 }
 
 TIMEOUT_VALIDATORS = {
@@ -448,6 +456,7 @@ TIMEOUT_VALIDATORS = {
     'sockettimeoutms': validate_timeout_or_none,
     'waitqueuetimeoutms': validate_timeout_or_none,
     'serverselectiontimeoutms': validate_timeout_or_zero,
+    'maxidletimems': validate_timeout_or_none,
 }
 
 KW_VALIDATORS = {
diff --git a/pymongo/helpers.py b/pymongo/helpers.py
index 547f0f5a5..504b53b6e 100644
--- a/pymongo/helpers.py
+++ b/pymongo/helpers.py
@@ -17,6 +17,8 @@
 import collections
 import datetime
 import struct
+import sys
+import traceback
 
 import bson
 from bson.codec_options import CodecOptions
@@ -337,3 +339,20 @@ def _fields_list_to_dict(fields, option_name):
 
     raise TypeError("%s must be a mapping or "
                     "list of key names" % (option_name,))
+
+
+def _handle_exception():
+    """Print exceptions raised by subscribers to stderr."""
+    # Heavily influenced by logging.Handler.handleError.
+
+    # See note here:
+    # https://docs.python.org/3.4/library/sys.html#sys.__stderr__
+    if sys.stderr:
+        einfo = sys.exc_info()
+        try:
+            traceback.print_exception(einfo[0], einfo[1], einfo[2],
+                                      None, sys.stderr)
+        except IOError:
+            pass
+        finally:
+            del einfo
diff --git a/pymongo/mongo_client.py b/pymongo/mongo_client.py
index b42a94495..7b1c9e292 100644
--- a/pymongo/mongo_client.py
+++ b/pymongo/mongo_client.py
@@ -34,7 +34,6 @@ access:
 import contextlib
 import datetime
 import threading
-import warnings
 import weakref
 from collections import defaultdict
 
@@ -124,10 +123,16 @@ class MongoClient(common.BaseObject):
 
           | **Other optional parameters can be passed as keyword arguments:**
 
-          - `maxPoolSize` (optional): The maximum number of connections
-            that the pool will open simultaneously. If this is set, operations
-            will block if there are `maxPoolSize` outstanding connections
-            from the pool. Defaults to 100. Cannot be 0.
+          - `maxPoolSize` (optional): The maximum allowable number of
+            concurrent connections to each connected server. Requests to a
+            server will block if there are `maxPoolSize` outstanding
+            connections to the requested server. Defaults to 100. Cannot be 0.
+          - `minPoolSize` (optional): The minimum required number of concurrent
+            connections that the pool will maintain to each connected server.
+            Default is 0.
+          - `maxIdleTimeMS` (optional): The maximum number of milliseconds that
+            a connection can remain idle in the pool before being removed and
+            replaced. Defaults to `None` (no limit).
           - `socketTimeoutMS`: (integer or None) Controls how long (in
             milliseconds) the driver will wait for a response after sending an
             ordinary (non-monitoring) database operation before concluding that
@@ -390,7 +395,7 @@ class MongoClient(common.BaseObject):
             client = self_ref()
             if client is None:
                 return False  # Stop the executor.
-            MongoClient._process_kill_cursors_queue(client)
+            MongoClient._process_periodic_tasks(client)
             return True
 
         executor = periodic_executor.PeriodicExecutor(
@@ -598,15 +603,34 @@ class MongoClient(common.BaseObject):
 
     @property
     def max_pool_size(self):
-        """The maximum number of sockets the pool will open concurrently.
+        """The maximum allowable number of concurrent connections to each
+        connected server. Requests to a server will block if there are
+        `maxPoolSize` outstanding connections to the requested server.
+        Defaults to 100. Cannot be 0.
 
-        When the pool has reached `max_pool_size`, operations block waiting for
-        a socket to be returned to the pool. If ``waitQueueTimeoutMS`` is set,
-        a blocked operation will raise :exc:`~pymongo.errors.ConnectionFailure`
-        after a timeout. By default ``waitQueueTimeoutMS`` is not set.
+        When a server's pool has reached `max_pool_size`, operations for that
+        server block waiting for a socket to be returned to the pool. If
+        ``waitQueueTimeoutMS`` is set, a blocked operation will raise
+        :exc:`~pymongo.errors.ConnectionFailure` after a timeout.
+        By default ``waitQueueTimeoutMS`` is not set.
         """
         return self.__options.pool_options.max_pool_size
 
+    @property
+    def min_pool_size(self):
+        """The minimum required number of concurrent connections that the pool
+        will maintain to each connected server. Default is 0.
+        """
+        return self.__options.pool_options.min_pool_size
+
+    @property
+    def max_idle_time_ms(self):
+        """The maximum number of milliseconds that a connection can remain
+        idle in the pool before being removed and replaced. Defaults to
+        `None` (no limit).
+        """
+        return self.__options.pool_options.max_idle_time_ms
+
     @property
     def nodes(self):
         """Set of all currently connected servers.
@@ -945,8 +969,9 @@ class MongoClient(common.BaseObject):
         self.__kill_cursors_queue.append((address, cursor_ids))
 
     # This method is run periodically by a background thread.
-    def _process_kill_cursors_queue(self):
-        """Process any pending kill cursors requests."""
+    def _process_periodic_tasks(self):
+        """Process any pending kill cursors requests and
+        maintain connection pool parameters."""
         address_to_cursor_ids = defaultdict(list)
 
         # Other threads or the GC may append to the queue concurrently.
@@ -1018,9 +1043,12 @@ class MongoClient(common.BaseObject):
                                     duration, reply, 'killCursors', request_id,
                                     address)
 
-                except ConnectionFailure as exc:
-                    warnings.warn("couldn't close cursor on %s: %s"
-                                  % (address, exc))
+                except Exception:
+                    helpers._handle_exception()
+        try:
+            self._topology.update_pool()
+        except Exception:
+            helpers._handle_exception()
 
     def server_info(self):
         """Get information about the MongoDB server we're connected to."""
diff --git a/pymongo/monitoring.py b/pymongo/monitoring.py
index 693c5fc0c..2173e3a44 100644
--- a/pymongo/monitoring.py
+++ b/pymongo/monitoring.py
@@ -70,6 +70,7 @@ import sys
 import traceback
 
 from collections import namedtuple, Sequence
+from pymongo.helpers import _handle_exception
 
 _Listeners = namedtuple('Listeners', ('command_listeners',))
 
@@ -133,22 +134,6 @@ def register(listener):
     _LISTENERS.command_listeners.append(listener)
 
 
-def _handle_exception():
-    """Print exceptions raised by subscribers to stderr."""
-    # Heavily influenced by logging.Handler.handleError.
-
-    # See note here:
-    # https://docs.python.org/3.4/library/sys.html#sys.__stderr__
-    if sys.stderr:
-        einfo = sys.exc_info()
-        try:
-            traceback.print_exception(einfo[0], einfo[1], einfo[2],
-                                      None, sys.stderr)
-        except IOError:
-            pass
-        finally:
-            del einfo
-
 # Note - to avoid bugs from forgetting which if these is all lowercase and
 # which are camelCase, and at the same time avoid having to add a test for
 # every command, use all lowercase here and test against command_name.lower().
diff --git a/pymongo/pool.py b/pymongo/pool.py
index 904c6b19b..73f3b0ce0 100644
--- a/pymongo/pool.py
+++ b/pymongo/pool.py
@@ -67,18 +67,22 @@ def _raise_connection_failure(address, error):
 
 class PoolOptions(object):
 
-    __slots__ = ('__max_pool_size', '__connect_timeout', '__socket_timeout',
+    __slots__ = ('__max_pool_size', '__min_pool_size', '__max_idle_time_ms',
+                 '__connect_timeout', '__socket_timeout',
                  '__wait_queue_timeout', '__wait_queue_multiple',
                  '__ssl_context', '__ssl_match_hostname', '__socket_keepalive',
                  '__event_listeners')
 
-    def __init__(self, max_pool_size=100, connect_timeout=None,
+    def __init__(self, max_pool_size=100, min_pool_size=0,
+                 max_idle_time_ms=None, connect_timeout=None,
                  socket_timeout=None, wait_queue_timeout=None,
                  wait_queue_multiple=None, ssl_context=None,
                  ssl_match_hostname=True, socket_keepalive=False,
                  event_listeners=None):
 
         self.__max_pool_size = max_pool_size
+        self.__min_pool_size = min_pool_size
+        self.__max_idle_time_ms = max_idle_time_ms
         self.__connect_timeout = connect_timeout
         self.__socket_timeout = socket_timeout
         self.__wait_queue_timeout = wait_queue_timeout
@@ -90,12 +94,34 @@ class PoolOptions(object):
 
     @property
     def max_pool_size(self):
-        """The maximum number of connections that the pool will open
-        simultaneously. If this is set, operations will block if there
-        are `max_pool_size` outstanding connections.
+        """The maximum allowable number of concurrent connections to each
+        connected server. Requests to a server will block if there are
+        `maxPoolSize` outstanding connections to the requested server.
+        Defaults to 100. Cannot be 0.
+
+        When a server's pool has reached `max_pool_size`, operations for that
+        server block waiting for a socket to be returned to the pool. If
+        ``waitQueueTimeoutMS`` is set, a blocked operation will raise
+        :exc:`~pymongo.errors.ConnectionFailure` after a timeout.
+        By default ``waitQueueTimeoutMS`` is not set.
         """
         return self.__max_pool_size
 
+    @property
+    def min_pool_size(self):
+        """The minimum required number of concurrent connections that the pool
+        will maintain to each connected server. Default is 0.
+        """
+        return self.__min_pool_size
+
+    @property
+    def max_idle_time_ms(self):
+        """The maximum number of milliseconds that a connection can remain
+        idle in the pool before being removed and replaced. Defaults to
+        `None` (no limit).
+        """
+        return self.__max_idle_time_ms
+
     @property
     def connect_timeout(self):
         """How long a connection can take to be opened before timing out.
@@ -459,6 +485,7 @@ class Pool:
 
         self.sockets = set()
         self.lock = threading.Lock()
+        self.active_sockets = 0
 
         # Keep track of resets, so we notice sockets created before the most
         # recent reset and close them.
@@ -483,10 +510,26 @@ class Pool:
             self.pool_id += 1
             self.pid = os.getpid()
             sockets, self.sockets = self.sockets, set()
+            self.active_sockets = 0
 
         for sock_info in sockets:
             sock_info.close()
 
+    def remove_stale_sockets(self):
+        with self.lock:
+            if self.opts.max_idle_time_ms is not None:
+                for sock_info in self.sockets.copy():
+                    age = _time() - sock_info.last_checkout
+                    if age > self.opts.max_idle_time_ms:
+                        self.sockets.remove(sock_info)
+                        sock_info.close()
+
+        while len(
+                self.sockets) + self.active_sockets < self.opts.min_pool_size:
+            sock_info = self.connect()
+            with self.lock:
+                self.sockets.add(sock_info)
+
     def connect(self):
         """Connect to Mongo and return a new SocketInfo.
 
@@ -560,6 +603,8 @@ class Pool:
         if not self._socket_semaphore.acquire(
                 True, self.opts.wait_queue_timeout):
             self._raise_wait_queue_timeout()
+        with self.lock:
+            self.active_sockets += 1
 
         # We've now acquired the semaphore and must release it on error.
         try:
@@ -571,6 +616,12 @@ class Pool:
             except KeyError:
                 # Can raise ConnectionFailure or CertificateError.
                 sock_info, from_pool = self.connect(), False
+            # If socket is idle, open a new one.
+            if self.opts.max_idle_time_ms is not None:
+                age = _time() - sock_info.last_checkout
+                if age > self.opts.max_idle_time_ms:
+                    sock_info.close()
+                    sock_info, from_pool = self.connect(), False
 
             if from_pool:
                 # Can raise ConnectionFailure.
@@ -578,6 +629,8 @@ class Pool:
 
         except:
             self._socket_semaphore.release()
+            with self.lock:
+                self.active_sockets -= 1
             raise
 
         sock_info.last_checkout = _time()
@@ -595,6 +648,8 @@ class Pool:
                     self.sockets.add(sock_info)
 
         self._socket_semaphore.release()
+        with self.lock:
+            self.active_sockets -= 1
 
     def _check(self, sock_info):
         """This side-effecty function checks if this pool has been reset since
diff --git a/pymongo/topology.py b/pymongo/topology.py
index 20cd64d05..bec295131 100644
--- a/pymongo/topology.py
+++ b/pymongo/topology.py
@@ -254,6 +254,12 @@ class Topology(object):
             self._reset_server(address)
             self._request_check(address)
 
+    def update_pool(self):
+        # Remove any stale sockets and add new sockets if pool is too small.
+        with self._lock:
+            for server in self._servers.values():
+                server._pool.remove_stale_sockets()
+
     def close(self):
         """Clear pools and terminate monitors. Topology reopens on demand."""
         with self._lock:
diff --git a/test/pymongo_mocks.py b/test/pymongo_mocks.py
index 2d77debf7..c312ef892 100644
--- a/test/pymongo_mocks.py
+++ b/test/pymongo_mocks.py
@@ -192,7 +192,7 @@ class MockClient(MongoClient):
 
         return response, rtt
 
-    def _process_kill_cursors_queue(self):
+    def _process_periodic_tasks(self):
         # Avoid the background thread causing races, e.g. a surprising
         # reconnect while we're trying to test a disconnected client.
         pass
diff --git a/test/test_client.py b/test/test_client.py
index 541536d60..7a72456e4 100644
--- a/test/test_client.py
+++ b/test/test_client.py
@@ -187,6 +187,77 @@ class ClientUnitTest(unittest.TestCase):
 
 class TestClient(IntegrationTest):
 
+    def test_max_idle_time_reaper(self):
+        with client_knobs(kill_cursor_frequency=0.1):
+            # Assert reaper doesn't remove sockets when maxIdleTimeMS not set
+            client = MongoClient(host, port)
+            server = client._get_topology().select_server(any_server_selector)
+            with server._pool.get_socket({}) as sock_info:
+                pass
+            time.sleep(1)
+            self.assertEqual(1, len(server._pool.sockets))
+            self.assertTrue(sock_info in server._pool.sockets)
+
+            # Assert reaper removes idle socket and replaces it with a new one
+            client = MongoClient(host, port, maxIdleTimeMS=.5, minPoolSize=1)
+            server = client._get_topology().select_server(any_server_selector)
+            with server._pool.get_socket({}) as sock_info:
+                pass
+            time.sleep(2)
+            self.assertEqual(1, len(server._pool.sockets))
+            self.assertFalse(sock_info in server._pool.sockets)
+
+            # Assert reaper has removed idle socket and NOT replaced it
+            client = MongoClient(host, port, maxIdleTimeMS=.5)
+            server = client._get_topology().select_server(any_server_selector)
+            with server._pool.get_socket({}):
+                pass
+            time.sleep(1)
+            self.assertEqual(0, len(server._pool.sockets))
+
+    def test_min_pool_size(self):
+        with client_knobs(kill_cursor_frequency=.1):
+            client = MongoClient(host, port)
+            server = client._get_topology().select_server(any_server_selector)
+            time.sleep(1)
+            self.assertEqual(0, len(server._pool.sockets))
+
+            # Assert that pool started up at minPoolSize
+            client = MongoClient(host, port, minPoolSize=10)
+            server = client._get_topology().select_server(any_server_selector)
+            time.sleep(1)
+            self.assertEqual(10, len(server._pool.sockets))
+
+            # Assert that if a socket is closed, a new one takes its place
+            with server._pool.get_socket({}) as sock_info:
+                sock_info.close()
+            time.sleep(1)
+            self.assertEqual(10, len(server._pool.sockets))
+            self.assertFalse(sock_info in server._pool.sockets)
+
+    def test_max_idle_time_checkout(self):
+        with client_knobs(kill_cursor_frequency=99999999):
+            client = MongoClient(host, port, maxIdleTimeMS=.5)
+            time.sleep(1)
+            server = client._get_topology().select_server(any_server_selector)
+            with server._pool.get_socket({}) as sock_info:
+                pass
+            time.sleep(1)
+            with server._pool.get_socket({}) as new_sock_info:
+                self.assertNotEqual(sock_info, new_sock_info)
+            self.assertEqual(1, len(server._pool.sockets))
+            self.assertFalse(sock_info in server._pool.sockets)
+            self.assertTrue(new_sock_info in server._pool.sockets)
+
+            client = MongoClient(host, port)
+            server = client._get_topology().select_server(any_server_selector)
+            with server._pool.get_socket({}) as sock_info:
+                pass
+            time.sleep(1)
+            with server._pool.get_socket({}) as new_sock_info:
+                self.assertEqual(sock_info, new_sock_info)
+            self.assertEqual(1, len(server._pool.sockets))
+
     def test_constants(self):
         # Set bad defaults.
         MongoClient.HOST = "somedomainthatdoesntexist.org"
@@ -798,23 +869,6 @@ class TestClient(IntegrationTest):
 
         wait_until(raises_cursor_not_found, 'close cursor')
 
-    def test_kill_cursors_with_server_unavailable(self):
-        with client_knobs(kill_cursor_frequency=9999999):
-            client = MongoClient('doesnt exist', connect=False,
-                                 serverSelectionTimeoutMS=0)
-
-            # Wait for the first tick of the periodic kill-cursors to pass.
-            time.sleep(1)
-
-            # Enqueue a kill-cursors message.
-            client.close_cursor(1234, ('doesnt-exist', 27017))
-
-            with warnings.catch_warnings(record=True) as user_warnings:
-                client._process_kill_cursors_queue()
-
-            self.assertIn("couldn't close cursor on ('doesnt-exist', 27017)",
-                          str(user_warnings[0].message))
-
     def test_lazy_connect_w0(self):
         # Ensure that connect-on-demand works when the first operation is
         # an unacknowledged write. This exercises _writable_max_wire_version().