An adaptive engine speed control system includes an idle condition module that determines whether the engine is idling and determines whether an actual engine speed is different than a desired engine speed. The desired engine speed corresponds to a commanded engine speed. A torque reserve determination module adjusts at least one of a torque reserve and the desired engine speed based on the determination of whether the engine is idling and the determination that the actual engine speed differs from the desired engine speed. The torque reserve corresponds to a quantity of torque reserved to respond to an anticipated future load on the engine.