Apparatuses and methods of beam switching are presented. A beam switch message (BSM) is transmitted to a second device via a first beam set. The BSM includes a command to switch from communication via the first beam set to communication via a second beam set at a switch time. A response message is received from the second device via the first beam set. The response message indicates that the second device received the BSM. A communication is sent to the second device via the second beam set after the switch time if the response message is received.