diff --git a/cmd/argoexec/commands/kill.go b/cmd/argoexec/commands/kill.go
deleted file mode 100644
index 05ebcadf5cde..000000000000
--- a/cmd/argoexec/commands/kill.go
+++ /dev/null
@@ -1,37 +0,0 @@
-package commands
-
-import (
-	"fmt"
-	"os"
-	"strconv"
-	"syscall"
-
-	"github.com/spf13/cobra"
-)
-
-func NewKillCommand() *cobra.Command {
-	return &cobra.Command{
-		Use:          "kill SIGNAL PID",
-		SilenceUsage: true,
-		RunE: func(cmd *cobra.Command, args []string) error {
-			signum, err := strconv.Atoi(args[0])
-			if err != nil {
-				return err
-			}
-			pid, err := strconv.Atoi(args[1])
-			if err != nil {
-				return err
-			}
-			sig := syscall.Signal(signum)
-			p, err := os.FindProcess(pid)
-			if err != nil {
-				return err
-			}
-			fmt.Printf("killing %d with %v\n", pid, sig)
-			if err := p.Signal(sig); err != nil {
-				return err
-			}
-			return nil
-		},
-	}
-}
diff --git a/cmd/argoexec/commands/root.go b/cmd/argoexec/commands/root.go
index 860948bcd891..a72baa60d513 100644
--- a/cmd/argoexec/commands/root.go
+++ b/cmd/argoexec/commands/root.go
@@ -63,7 +63,6 @@ func NewRootCommand() *cobra.Command {
 	command.AddCommand(NewAgentCommand())
 	command.AddCommand(NewEmissaryCommand())
 	command.AddCommand(NewInitCommand())
-	command.AddCommand(NewKillCommand())
 	command.AddCommand(NewResourceCommand())
 	command.AddCommand(NewWaitCommand())
 	command.AddCommand(NewDataCommand())
diff --git a/cmd/argoexec/commands/wait.go b/cmd/argoexec/commands/wait.go
index 7125315e2c7c..075c4a1ab2fc 100644
--- a/cmd/argoexec/commands/wait.go
+++ b/cmd/argoexec/commands/wait.go
@@ -2,8 +2,6 @@ package commands
 
 import (
 	"context"
-	"os/signal"
-	"syscall"
 	"time"
 
 	"github.com/argoproj/pkg/stats"
@@ -32,20 +30,19 @@ func waitContainer(ctx context.Context) error {
 	defer stats.LogStats()
 	stats.StartStatsTicker(5 * time.Minute)
 
-	// use a block to constrain the scope of ctx
-	{
-		// this allows us to gracefully shutdown, capturing artifacts
-		ctx, cancel := signal.NotifyContext(ctx, syscall.SIGTERM)
-		defer cancel()
-
-		// Wait for main container to complete
-		err := wfExecutor.Wait(ctx)
-		if err != nil {
+	defer func() {
+		if err := wfExecutor.KillSidecars(ctx); err != nil {
 			wfExecutor.AddError(err)
 		}
+	}()
+
+	// Wait for main container to complete
+	err := wfExecutor.Wait(ctx)
+	if err != nil {
+		wfExecutor.AddError(err)
 	}
 	// Capture output script result
-	err := wfExecutor.CaptureScriptResult(ctx)
+	err = wfExecutor.CaptureScriptResult(ctx)
 	if err != nil {
 		wfExecutor.AddError(err)
 	}
diff --git a/test/e2e/signals_test.go b/test/e2e/signals_test.go
index a7f32dfc9b91..96a0a08ca76a 100644
--- a/test/e2e/signals_test.go
+++ b/test/e2e/signals_test.go
@@ -136,12 +136,12 @@ func (s *SignalsSuite) TestInjectedSidecar() {
 		WaitForWorkflow(fixtures.ToBeSucceeded, kill2xDuration)
 }
 
-func (s *SignalsSuite) TestSubProcess() {
+func (s *SignalsSuite) TestInjectedSidecarKillAnnotation() {
 	s.Given().
-		Workflow("@testdata/subprocess-workflow.yaml").
+		Workflow("@testdata/sidecar-injected-kill-annotation-workflow.yaml").
 		When().
 		SubmitWorkflow().
-		WaitForWorkflow()
+		WaitForWorkflow(fixtures.ToBeSucceeded, kill2xDuration)
 }
 
 func TestSignalsSuite(t *testing.T) {
diff --git a/test/e2e/testdata/sidecar-injected-kill-annotation-workflow.yaml b/test/e2e/testdata/sidecar-injected-kill-annotation-workflow.yaml
new file mode 100644
index 000000000000..dcf376e29d0d
--- /dev/null
+++ b/test/e2e/testdata/sidecar-injected-kill-annotation-workflow.yaml
@@ -0,0 +1,25 @@
+apiVersion: argoproj.io/v1alpha1
+kind: Workflow
+metadata:
+  generateName: sidecar-injected-kill-annotation-
+spec:
+  entrypoint: main
+  podMetadata:
+    annotations:
+      workflows.argoproj.io/kill-cmd-sidecar: '["sh", "-c", "kill -s%d -- -1"]'
+  podSpecPatch: |
+    terminationGracePeriodSeconds: 3
+    containers:
+      - name: wait
+      - name: main
+      - name: sidecar
+        image: argoproj/argosay:v1
+        command:
+         - sh
+         - -c
+        args:
+          - "sleep 999"
+  templates:
+    - name: main
+      container:
+        image: argoproj/argosay:v1
\ No newline at end of file
diff --git a/workflow/signal/signal.go b/workflow/signal/signal.go
index fe2fd4bbc8d4..c93874a9f2fb 100644
--- a/workflow/signal/signal.go
+++ b/workflow/signal/signal.go
@@ -3,7 +3,6 @@ package signal
 import (
 	"encoding/json"
 	"fmt"
-	"path/filepath"
 	"strings"
 	"syscall"
 
@@ -16,16 +15,8 @@ import (
 
 func SignalContainer(restConfig *rest.Config, pod *corev1.Pod, container string, s syscall.Signal) error {
 	command := []string{"/bin/sh", "-c", "kill -%d 1"}
-
-	// If the container has the /var/run/argo volume mounted, this it will have access to `argoexec`.
-	for _, c := range pod.Spec.Containers {
-		if c.Name == container {
-			for _, m := range c.VolumeMounts {
-				if m.MountPath == common.VarRunArgoPath {
-					command = []string{filepath.Join(common.VarRunArgoPath, "argoexec"), "kill", "%d", "1"}
-				}
-			}
-		}
+	if container == common.WaitContainerName {
+		command = []string{"/bin/sh", "-c", "kill -%d $(pidof argoexec)"}
 	}
 
 	if v, ok := pod.Annotations[common.AnnotationKeyKillCmd(container)]; ok {