A work vehicle control system includes an actual topography acquisition device and a controller. The actual topography acquisition device acquires actual topography information, which indicates an actual topography of a work target. The controller acquires the actual topography information from the actual topography acquisition device. The controller generates a command signal to move the work implement along a locus positioned above the target topography by a predetermined distance when the actual topography is positioned below the target topography of the work target.