An efficient random access procedure is provided for reduced control overhead of connections in random access systems. A base station transmits one or more synchronization signal (SS) blocks. A UE detects and determines a preferred SS block. The UE transmits multiple random access signals (e.g., PRACH signals) in a RACH occasion. Each PRACH signal is transmitted on a different beam and includes a RACH preamble. The base station receives one or more of the PRACH signals. The RACH occasion and optionally the RACH preamble identify the preferred SS block. The base station determines a preferred PRACH signal. The base station sends a RAR to the UE using the transmit beam of the preferred SS block. The RAR indicates the preferred PRACH signal and an uplink resource allocation. The UE receives the RAR and transmits a message using the transmit beam of the preferred PRACH signal and the uplink resource allocation.