An engine control system comprises a pedal torque determination module, a driver interpretation module, and an actuation module. The pedal torque determination module determines a zero pedal torque based on a desired engine torque at a zero accelerator pedal position and a minimum torque limit for an engine system. The driver interpretation module determines a driver pedal torque based on the zero pedal torque and an accelerator pedal position. The actuation module controls at least one of a throttle area, spark timing, and a fuel command based on the driver pedal torque.