In one embodiment, a device in a frequency hopping communication network transmits responsive beacon messages based on adaptive types of responsive beacon message transmission based on a number of received beacon requests within a given time period: the number below a threshold results in synchronized unicast messages; the number above the threshold results in unsynchronized broadcast messages. In another embodiment, the device suppresses unsolicited beacon message transmission based on a density-aware redundancy count of other unsolicited beacon message transmissions from neighboring devices. In another embodiment, the device may transmit unsolicited beacon messages according to an adaptive interval based on stability of the network. In another embodiment, the device may suppress transmission of a beacon request to join the communication network based on a density-aware redundancy count of other beacon requests from neighboring devices, and transmits beacon requests at an adaptive interval that increases in response to each unanswered beacon request.