diff --git a/.changelog/unreleased/improvements/3156-make-addvote-only-take-one-ps-mtx.md b/.changelog/unreleased/improvements/3156-make-addvote-only-take-one-ps-mtx.md
new file mode 100644
index 0000000000..215295c2cf
--- /dev/null
+++ b/.changelog/unreleased/improvements/3156-make-addvote-only-take-one-ps-mtx.md
@@ -0,0 +1,2 @@
+- `[consensus]` Make Vote messages only take one peerstate mutex
+  ([\#3156](https://github.com/cometbft/cometbft/issues/3156))
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5f6a8644ab..3e648c749d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,7 @@ It also includes a few other bug fixes and performance improvements.
 - `[indexer]` Fixed ineffective select break statements; they now
   point to their enclosing for loop label to exit
   ([\#3544](https://github.com/cometbft/cometbft/issues/3544))
+- [#91](https://github.com/osmosis-labs/cometbft/pull/91) perf(consensus): Minor improvement by making add vote only do one peer set mutex call, not 3 (#3156)
 
 ## v0.38.10
 
diff --git a/consensus/reactor.go b/consensus/reactor.go
index 9e86e70d2e..8bb7de92b1 100644
--- a/consensus/reactor.go
+++ b/consensus/reactor.go
@@ -1365,6 +1365,16 @@ func (ps *PeerState) SetHasVote(vote *types.Vote) {
 	ps.setHasVote(vote.Height, vote.Round, vote.Type, vote.ValidatorIndex)
 }
 
+// SetHasVote sets the given vote as known by the peer.
+func (ps *PeerState) SetHasVoteFromPeer(vote *types.Vote, csHeight int64, valSize, lastCommitSize int) {
+	ps.mtx.Lock()
+	defer ps.mtx.Unlock()
+
+	ps.ensureVoteBitArrays(csHeight, valSize)
+	ps.ensureVoteBitArrays(csHeight-1, lastCommitSize)
+	ps.setHasVote(vote.Height, vote.Round, vote.Type, vote.ValidatorIndex)
+}
+
 func (ps *PeerState) setHasVote(height int64, round int32, voteType cmtproto.SignedMsgType, index int32) {
 	ps.logger.Debug("setHasVote",
 		"peerH/R",