Systems and methods are disclosed for efficient signaling between devices. A relay device initiates association with discovery broadcast signals to leaf devices. Each leaf responds with association request signals. After association, the relay periodically sends stay alive signals to the leaf, and the leaf periodically sends link confirmation signals to the relay. If either device fails to send its signal, link breakage is assumed. The leaf device reverts to uplink communication with a base station while searching for another relay. In another embodiment, the leaf foregoes association with a relay, instead forming a device to device (D2D) connection with a relay. A D2D connection is used when the leaf does not expect a link to a relay to be stable enough to justify the association overhead, or when downlink traffic is arriving more frequently than an associated relay is awake. Other aspects, embodiments, and features are also claimed and described.