diff --git a/drivers/modem/modem_socket.c b/drivers/modem/modem_socket.c
index 7e992fd5676..b3e44d4de1c 100644
--- a/drivers/modem/modem_socket.c
+++ b/drivers/modem/modem_socket.c
@@ -154,7 +154,7 @@ int modem_socket_get(struct modem_socket_config *cfg, int family, int type, int
 	k_sem_take(&cfg->sem_lock, K_FOREVER);
 
 	for (i = 0; i < cfg->sockets_len; i++) {
-		if (cfg->sockets[i].id < cfg->base_socket_num) {
+		if (cfg->sockets[i].id < cfg->base_socket_id) {
 			break;
 		}
 	}
@@ -173,7 +173,8 @@ int modem_socket_get(struct modem_socket_config *cfg, int family, int type, int
 	cfg->sockets[i].family = family;
 	cfg->sockets[i].type = type;
 	cfg->sockets[i].ip_proto = proto;
-	cfg->sockets[i].id = i + cfg->base_socket_num;
+	cfg->sockets[i].id = (cfg->assign_id) ? (i + cfg->base_socket_id) :
+		(cfg->base_socket_id + cfg->sockets_len);
 	z_finalize_fd(cfg->sockets[i].sock_fd, &cfg->sockets[i],
 		      (const struct fd_op_vtable *)cfg->vtable);
 
@@ -203,7 +204,7 @@ struct modem_socket *modem_socket_from_id(struct modem_socket_config *cfg, int i
 {
 	int i;
 
-	if (id < cfg->base_socket_num) {
+	if (id < cfg->base_socket_id) {
 		return NULL;
 	}
 
@@ -223,7 +224,7 @@ struct modem_socket *modem_socket_from_id(struct modem_socket_config *cfg, int i
 
 struct modem_socket *modem_socket_from_newid(struct modem_socket_config *cfg)
 {
-	return modem_socket_from_id(cfg, cfg->sockets_len + 1);
+	return modem_socket_from_id(cfg, cfg->base_socket_id + cfg->sockets_len);
 }
 
 void modem_socket_put(struct modem_socket_config *cfg, int sock_fd)
@@ -236,7 +237,7 @@ void modem_socket_put(struct modem_socket_config *cfg, int sock_fd)
 
 	k_sem_take(&cfg->sem_lock, K_FOREVER);
 
-	sock->id = cfg->base_socket_num - 1;
+	sock->id = cfg->base_socket_id - 1;
 	sock->sock_fd = -1;
 	sock->is_waiting = false;
 	sock->is_connected = false;
@@ -410,18 +411,78 @@ void modem_socket_data_ready(struct modem_socket_config *cfg, struct modem_socke
 	k_sem_give(&cfg->sem_lock);
 }
 
-int modem_socket_init(struct modem_socket_config *cfg, const struct socket_op_vtable *vtable)
+int modem_socket_init(struct modem_socket_config *cfg, struct modem_socket *sockets,
+		      size_t sockets_len, int base_socket_id, bool assign_id,
+		      const struct socket_op_vtable *vtable)
 {
-	int i;
-
-	k_sem_init(&cfg->sem_lock, 1, 1);
-	for (i = 0; i < cfg->sockets_len; i++) {
-		k_sem_init(&cfg->sockets[i].sem_data_ready, 0, 1);
-		k_poll_signal_init(&cfg->sockets[i].sig_data_ready);
-		cfg->sockets[i].id = cfg->base_socket_num - 1;
+	/* Verify arguments */
+	if (cfg == NULL || sockets == NULL || sockets_len < 1 || vtable == NULL) {
+		return -EINVAL;
 	}
 
+	/* Initialize config */
+	cfg->sockets = sockets;
+	cfg->sockets_len = sockets_len;
+	cfg->base_socket_id = base_socket_id;
+	cfg->assign_id = assign_id;
+	k_sem_init(&cfg->sem_lock, 1, 1);
 	cfg->vtable = vtable;
 
+	/* Initialize associated sockets */
+	for (int i = 0; i < cfg->sockets_len; i++) {
+		/* Clear entire socket structure */
+		memset(&cfg->sockets[i], 0, sizeof(cfg->sockets[i]));
+
+		/* Initialize socket members */
+		k_sem_init(&cfg->sockets[i].sem_data_ready, 0, 1);
+		k_poll_signal_init(&cfg->sockets[i].sig_data_ready);
+		cfg->sockets[i].id = -1;
+	}
+	return 0;
+}
+
+bool modem_socket_is_allocated(const struct modem_socket_config *cfg,
+			       const struct modem_socket *sock)
+{
+	/* Socket is allocated with a reserved id value if id is not dynamically assigned */
+	if (cfg->assign_id == false && sock->id == (cfg->base_socket_id + cfg->sockets_len)) {
+		return true;
+	}
+
+	/* Socket must have been allocated if id is assigned */
+	return modem_socket_id_is_assigned(cfg, sock);
+}
+
+bool modem_socket_id_is_assigned(const struct modem_socket_config *cfg,
+				 const struct modem_socket *sock)
+{
+	/* Verify socket is assigned to a valid value */
+	if ((cfg->base_socket_id <= sock->id) &&
+		(sock->id < (cfg->base_socket_id + cfg->sockets_len))) {
+		return true;
+	}
+	return false;
+}
+
+int modem_socket_id_assign(const struct modem_socket_config *cfg,
+			   struct modem_socket *sock, int id)
+{
+	/* Verify dynamically assigning id is disabled */
+	if (cfg->assign_id) {
+		return -EPERM;
+	}
+
+	/* Verify id is currently not assigned */
+	if (modem_socket_id_is_assigned(cfg, sock)) {
+		return -EPERM;
+	}
+
+	/* Verify id is valid */
+	if (id < cfg->base_socket_id || (cfg->base_socket_id + cfg->sockets_len) <= id) {
+		return -EINVAL;
+	}
+
+	/* Assign id */
+	sock->id = id;
 	return 0;
 }
diff --git a/drivers/modem/modem_socket.h b/drivers/modem/modem_socket.h
index c330bf1ed5b..1c333f818df 100644
--- a/drivers/modem/modem_socket.h
+++ b/drivers/modem/modem_socket.h
@@ -58,7 +58,11 @@ struct modem_socket_config {
 	size_t sockets_len;
 
 	/* beginning socket id (modems can set this to 0 or 1 as needed) */
-	int base_socket_num;
+	int base_socket_id;
+
+	/* dynamically assign id when modem socket is allocated */
+	bool assign_id;
+
 	struct k_sem sem_lock;
 
 	const struct socket_op_vtable *vtable;
@@ -82,7 +86,72 @@ int modem_socket_poll_prepare(struct modem_socket_config *cfg, struct modem_sock
 			      struct k_poll_event *pev_end);
 void modem_socket_wait_data(struct modem_socket_config *cfg, struct modem_socket *sock);
 void modem_socket_data_ready(struct modem_socket_config *cfg, struct modem_socket *sock);
-int modem_socket_init(struct modem_socket_config *cfg, const struct socket_op_vtable *vtable);
+
+/**
+ * @brief Initialize modem socket config struct and associated modem sockets
+ *
+ * @param cfg The config to initialize
+ * @param sockets The array of sockets associated with the modem socket config
+ * @param sockets_len The length of the array of sockets associated with the modem socket config
+ * @param base_socket_id The lowest socket id supported by the modem
+ * @param assign_id Dynamically assign modem socket id when allocated using modem_socket_get()
+ * @param vtable Socket API implementation used by this config and associated sockets
+ *
+ * @return -EINVAL if any argument is invalid
+ * @return 0 if successful
+ */
+int modem_socket_init(struct modem_socket_config *cfg, struct modem_socket *sockets,
+		      size_t sockets_len, int base_socket_id, bool assign_id,
+		      const struct socket_op_vtable *vtable);
+
+/**
+ * @brief Check if modem socket has been allocated
+ *
+ * @details A modem socket is allocated after a successful invocation of modem_socket_get, and
+ * released after a successful invocation of modem_socket_put.
+ *
+ * @note If socket id is automatically assigned, the socket id will be a value between
+ * base_socket_id and (base_socket_id + socket_len).
+ * Otherwise, the socket id will be assigned to (base_socket_id + socket_len) when allocated.
+ *
+ * @param cfg The modem socket config which the modem socket belongs to
+ * @param sock The modem socket which is checked
+ *
+ * @return true if the socket has been allocated
+ * @return false if the socket has not been allocated
+ */
+bool modem_socket_is_allocated(const struct modem_socket_config *cfg,
+			       const struct modem_socket *sock);
+
+/**
+ * @brief Check if modem socket id has been assigned
+ *
+ * @note An assigned modem socket will have an id between base_socket_id and
+ * (base_socket_id + socket_len).
+ *
+ * @param cfg The modem socket config which the modem socket belongs to
+ * @param sock The modem socket for which the id is checked
+ *
+ * @return true if the socket id is been assigned
+ * @return false if the socket has not been assigned
+ */
+bool modem_socket_id_is_assigned(const struct modem_socket_config *cfg,
+				 const struct modem_socket *sock);
+
+/**
+ * @brief Assign id to modem socket
+ *
+ * @param cfg The modem socket config which the modem socket belongs to
+ * @param sock The modem socket for which the id will be assigned
+ * @param id The id to assign to the modem socket
+ *
+ * @return -EPERM if id has been assigned previously
+ * @return -EINVAL if id is invalid
+ * @return 0 if successful
+ */
+int modem_socket_id_assign(const struct modem_socket_config *cfg,
+			   struct modem_socket *sock,
+			   int id);
 
 #ifdef __cplusplus
 }
diff --git a/drivers/modem/quectel-bg9x.c b/drivers/modem/quectel-bg9x.c
index 3f30a27ba2c..b18f928d7d5 100644
--- a/drivers/modem/quectel-bg9x.c
+++ b/drivers/modem/quectel-bg9x.c
@@ -197,7 +197,7 @@ static void socket_close(struct modem_socket *sock)
 	char buf[sizeof("AT+QICLOSE=##")] = {0};
 	int  ret;
 
-	snprintk(buf, sizeof(buf), "AT+QICLOSE=%d", sock->sock_fd);
+	snprintk(buf, sizeof(buf), "AT+QICLOSE=%d", sock->id);
 
 	/* Tell the modem to close the socket. */
 	ret = modem_cmd_send(&mctx.iface, &mctx.cmd_handler,
@@ -452,7 +452,7 @@ static ssize_t send_socket_data(struct modem_socket *sock,
 
 	/* Create a buffer with the correct params. */
 	mdata.sock_written = buf_len;
-	snprintk(send_buf, sizeof(send_buf), "AT+QISEND=%d,%ld", sock->sock_fd, (long) buf_len);
+	snprintk(send_buf, sizeof(send_buf), "AT+QISEND=%d,%ld", sock->id, (long) buf_len);
 
 	/* Setup the locks correctly. */
 	k_sem_take(&mdata.cmd_handler_data.sem_tx_lock, K_FOREVER);
@@ -594,7 +594,7 @@ static ssize_t offload_recvfrom(void *obj, void *buf, size_t len,
 		return -1;
 	}
 
-	snprintk(sendbuf, sizeof(sendbuf), "AT+QIRD=%d,%zd", sock->sock_fd, len);
+	snprintk(sendbuf, sizeof(sendbuf), "AT+QIRD=%d,%zd", sock->id, len);
 
 	/* Socket read settings */
 	(void) memset(&sock_data, 0, sizeof(sock_data));
@@ -604,7 +604,7 @@ static ssize_t offload_recvfrom(void *obj, void *buf, size_t len,
 	sock->data	       = &sock_data;
 	mdata.sock_fd	       = sock->sock_fd;
 
-	/* Tell the modem to give us data (AT+QIRD=sock_fd,data_len). */
+	/* Tell the modem to give us data (AT+QIRD=id,data_len). */
 	ret = modem_cmd_send(&mctx.iface, &mctx.cmd_handler,
 			     data_cmd, ARRAY_SIZE(data_cmd), sendbuf, &mdata.sem_response,
 			     MDM_CMD_TIMEOUT);
@@ -695,7 +695,8 @@ static int offload_connect(void *obj, const struct sockaddr *addr,
 	int		    ret;
 	char		    ip_str[NET_IPV6_ADDR_LEN];
 
-	if (sock->id < mdata.socket_config.base_socket_num - 1) {
+	/* Verify socket has been allocated */
+	if (modem_socket_is_allocated(&mdata.socket_config, sock) == false) {
 		LOG_ERR("Invalid socket_id(%d) from fd:%d",
 			sock->id, sock->sock_fd);
 		errno = EINVAL;
@@ -734,8 +735,8 @@ static int offload_connect(void *obj, const struct sockaddr *addr,
 	}
 
 	/* Formulate the complete string. */
-	snprintk(buf, sizeof(buf), "AT+QIOPEN=%d,%d,\"%s\",\"%s\",%d,0,0", 1, sock->sock_fd, protocol,
-		ip_str, dst_port);
+	snprintk(buf, sizeof(buf), "AT+QIOPEN=%d,%d,\"%s\",\"%s\",%d,0,0", 1, sock->id, protocol,
+		 ip_str, dst_port);
 
 	/* Send out the command. */
 	ret = modem_cmd_send(&mctx.iface, &mctx.cmd_handler,
@@ -792,8 +793,8 @@ static int offload_close(void *obj)
 {
 	struct modem_socket *sock = (struct modem_socket *) obj;
 
-	/* Make sure we assigned an id */
-	if (sock->id < mdata.socket_config.base_socket_num) {
+	/* Make sure socket is allocated */
+	if (modem_socket_is_allocated(&mdata.socket_config, sock) == false) {
 		return 0;
 	}
 
@@ -1145,10 +1146,8 @@ static int modem_init(const struct device *dev)
 			   K_PRIO_COOP(7), NULL);
 
 	/* socket config */
-	mdata.socket_config.sockets	    = &mdata.sockets[0];
-	mdata.socket_config.sockets_len	    = ARRAY_SIZE(mdata.sockets);
-	mdata.socket_config.base_socket_num = MDM_BASE_SOCKET_NUM;
-	ret = modem_socket_init(&mdata.socket_config, &offload_socket_fd_op_vtable);
+	ret = modem_socket_init(&mdata.socket_config, &mdata.sockets[0], ARRAY_SIZE(mdata.sockets),
+				MDM_BASE_SOCKET_NUM, true, &offload_socket_fd_op_vtable);
 	if (ret < 0) {
 		goto error;
 	}
diff --git a/drivers/modem/simcom-sim7080.c b/drivers/modem/simcom-sim7080.c
index f2df209170e..b989b2a21b8 100644
--- a/drivers/modem/simcom-sim7080.c
+++ b/drivers/modem/simcom-sim7080.c
@@ -144,7 +144,7 @@ static int offload_connect(void *obj, const struct sockaddr *addr, socklen_t add
 		return -EAGAIN;
 	}
 
-	if (sock->id < mdata.socket_config.base_socket_num - 1) {
+	if (modem_socket_is_allocated(&mdata.socket_config, sock) == false) {
 		LOG_ERR("Invalid socket id %d from fd %d", sock->id, sock->sock_fd);
 		errno = EINVAL;
 		return -1;
@@ -173,7 +173,7 @@ static int offload_connect(void *obj, const struct sockaddr *addr, socklen_t add
 		return -1;
 	}
 
-	ret = snprintk(buf, sizeof(buf), "AT+CAOPEN=%d,%d,\"%s\",\"%s\",%d", 0, sock->sock_fd,
+	ret = snprintk(buf, sizeof(buf), "AT+CAOPEN=%d,%d,\"%s\",\"%s\",%d", 0, sock->id,
 		       protocol, ip_str, dst_port);
 	if (ret < 0) {
 		LOG_ERR("Failed to build connect command. ID: %d, FD: %d", sock->id, sock->sock_fd);
@@ -245,7 +245,7 @@ static ssize_t offload_sendto(void *obj, const void *buf, size_t len, int flags,
 		len = MDM_MAX_DATA_LENGTH;
 	}
 
-	ret = snprintk(send_buf, sizeof(send_buf), "AT+CASEND=%d,%ld", sock->sock_fd, (long)len);
+	ret = snprintk(send_buf, sizeof(send_buf), "AT+CASEND=%d,%ld", sock->id, (long)len);
 	if (ret < 0) {
 		LOG_ERR("Failed to build send command!!");
 		errno = ENOMEM;
@@ -410,7 +410,7 @@ static ssize_t offload_recvfrom(void *obj, void *buf, size_t max_len, int flags,
 	}
 
 	max_len = (max_len > MDM_MAX_DATA_LENGTH) ? MDM_MAX_DATA_LENGTH : max_len;
-	snprintk(sendbuf, sizeof(sendbuf), "AT+CARECV=%d,%zd", sock->sock_fd, max_len);
+	snprintk(sendbuf, sizeof(sendbuf), "AT+CARECV=%d,%zd", sock->id, max_len);
 
 	memset(&sock_data, 0, sizeof(sock_data));
 	sock_data.recv_buf = buf;
@@ -502,7 +502,7 @@ static void socket_close(struct modem_socket *sock)
 	char buf[sizeof("AT+CACLOSE=##")];
 	int ret;
 
-	snprintk(buf, sizeof(buf), "AT+CACLOSE=%d", sock->sock_fd);
+	snprintk(buf, sizeof(buf), "AT+CACLOSE=%d", sock->id);
 
 	ret = modem_cmd_send(&mctx.iface, &mctx.cmd_handler, NULL, 0U, buf, &mdata.sem_response,
 			     MDM_CMD_TIMEOUT);
@@ -542,8 +542,8 @@ static int offload_close(void *obj)
 		return -EAGAIN;
 	}
 
-	/* Make sure we assigned an id */
-	if (sock->id < mdata.socket_config.base_socket_num) {
+	/* Make sure socket is allocated */
+	if (modem_socket_is_allocated(&mdata.socket_config, sock) == false) {
 		return 0;
 	}
 
@@ -2338,10 +2338,8 @@ static int modem_init(const struct device *dev)
 	mdata.sms_buffer_pos = 0;
 
 	/* Socket config. */
-	mdata.socket_config.sockets = &mdata.sockets[0];
-	mdata.socket_config.sockets_len = ARRAY_SIZE(mdata.sockets);
-	mdata.socket_config.base_socket_num = MDM_BASE_SOCKET_NUM;
-	ret = modem_socket_init(&mdata.socket_config, &offload_socket_fd_op_vtable);
+	ret = modem_socket_init(&mdata.socket_config, &mdata.sockets[0], ARRAY_SIZE(mdata.sockets),
+				MDM_BASE_SOCKET_NUM, true, &offload_socket_fd_op_vtable);
 	if (ret < 0) {
 		goto error;
 	}
diff --git a/drivers/modem/ublox-sara-r4.c b/drivers/modem/ublox-sara-r4.c
index 233990569ed..191490686a2 100644
--- a/drivers/modem/ublox-sara-r4.c
+++ b/drivers/modem/ublox-sara-r4.c
@@ -738,15 +738,15 @@ static const struct setup_cmd query_cellinfo_cmds[] = {
 MODEM_CMD_DEFINE(on_cmd_sockcreate)
 {
 	struct modem_socket *sock = NULL;
+	int id;
 
 	/* look up new socket by special id */
 	sock = modem_socket_from_newid(&mdata.socket_config);
 	if (sock) {
-		sock->id = ATOI(argv[0],
-				mdata.socket_config.base_socket_num - 1,
-				"socket_id");
+		id = ATOI(argv[0], -1, "socket_id");
+
 		/* on error give up modem socket */
-		if (sock->id == mdata.socket_config.base_socket_num - 1) {
+		if (modem_socket_id_assign(&mdata.socket_config, sock, id) < 0) {
 			modem_socket_put(&mdata.socket_config, sock->sock_fd);
 		}
 	}
@@ -1489,8 +1489,8 @@ static int offload_close(void *obj)
 	char buf[sizeof("AT+USOCL=#\r")];
 	int ret;
 
-	/* make sure we assigned an id */
-	if (sock->id < mdata.socket_config.base_socket_num) {
+	/* make sure socket is allocated and assigned an id */
+	if (modem_socket_id_is_assigned(&mdata.socket_config, sock) == false) {
 		return 0;
 	}
 
@@ -1518,7 +1518,7 @@ static int offload_bind(void *obj, const struct sockaddr *addr,
 	memcpy(&sock->src, addr, sizeof(*addr));
 
 	/* make sure we've created the socket */
-	if (sock->id == mdata.socket_config.sockets_len + 1) {
+	if (modem_socket_is_allocated(&mdata.socket_config, sock) == true) {
 		if (create_socket(sock, addr) < 0) {
 			return -1;
 		}
@@ -1541,7 +1541,8 @@ static int offload_connect(void *obj, const struct sockaddr *addr,
 		return -1;
 	}
 
-	if (sock->id < mdata.socket_config.base_socket_num - 1) {
+	/* make sure socket has been allocated */
+	if (modem_socket_is_allocated(&mdata.socket_config, sock) == false) {
 		LOG_ERR("Invalid socket_id(%d) from fd:%d",
 			sock->id, sock->sock_fd);
 		errno = EINVAL;
@@ -1549,7 +1550,7 @@ static int offload_connect(void *obj, const struct sockaddr *addr,
 	}
 
 	/* make sure we've created the socket */
-	if (sock->id == mdata.socket_config.sockets_len + 1) {
+	if (modem_socket_id_is_assigned(&mdata.socket_config, sock) == false) {
 		if (create_socket(sock, NULL) < 0) {
 			return -1;
 		}
@@ -2139,11 +2140,8 @@ static int modem_init(const struct device *dev)
 #endif
 
 	/* socket config */
-	mdata.socket_config.sockets = &mdata.sockets[0];
-	mdata.socket_config.sockets_len = ARRAY_SIZE(mdata.sockets);
-	mdata.socket_config.base_socket_num = MDM_BASE_SOCKET_NUM;
-	ret = modem_socket_init(&mdata.socket_config,
-				&offload_socket_fd_op_vtable);
+	ret = modem_socket_init(&mdata.socket_config, &mdata.sockets[0], ARRAY_SIZE(mdata.sockets),
+				MDM_BASE_SOCKET_NUM, false, &offload_socket_fd_op_vtable);
 	if (ret < 0) {
 		goto error;
 	}