diff --git a/packages/coding-agent/src/core/agent-session.ts b/packages/coding-agent/src/core/agent-session.ts
index 06601e3e..bf9984ec 100644
--- a/packages/coding-agent/src/core/agent-session.ts
+++ b/packages/coding-agent/src/core/agent-session.ts
@@ -138,8 +138,10 @@ export class AgentSession {
 	private _unsubscribeAgent?: () => void;
 	private _eventListeners: AgentSessionEventListener[] = [];
 
-	// Message queue state
-	private _queuedMessages: string[] = [];
+	/** Tracks pending steering messages for UI display. Removed when delivered. */
+	private _steeringMessages: string[] = [];
+	/** Tracks pending follow-up messages for UI display. Removed when delivered. */
+	private _followUpMessages: string[] = [];
 
 	// Compaction state
 	private _compactionAbortController: AbortController | undefined = undefined;
@@ -207,16 +209,21 @@ export class AgentSession {
 
 	/** Internal handler for agent events - shared by subscribe and reconnect */
 	private _handleAgentEvent = async (event: AgentEvent): Promise<void> => {
-		// When a user message starts, check if it's from the queue and remove it BEFORE emitting
+		// When a user message starts, check if it's from either queue and remove it BEFORE emitting
 		// This ensures the UI sees the updated queue state
-		if (event.type === "message_start" && event.message.role === "user" && this._queuedMessages.length > 0) {
-			// Extract text content from the message
+		if (event.type === "message_start" && event.message.role === "user") {
 			const messageText = this._getUserMessageText(event.message);
-			if (messageText && this._queuedMessages.includes(messageText)) {
-				// Remove the first occurrence of this message from the queue
-				const index = this._queuedMessages.indexOf(messageText);
-				if (index !== -1) {
-					this._queuedMessages.splice(index, 1);
+			if (messageText) {
+				// Check steering queue first
+				const steeringIndex = this._steeringMessages.indexOf(messageText);
+				if (steeringIndex !== -1) {
+					this._steeringMessages.splice(steeringIndex, 1);
+				} else {
+					// Check follow-up queue
+					const followUpIndex = this._followUpMessages.indexOf(messageText);
+					if (followUpIndex !== -1) {
+						this._followUpMessages.splice(followUpIndex, 1);
+					}
 				}
 			}
 		}
@@ -418,9 +425,14 @@ export class AgentSession {
 		return this.agent.state.messages;
 	}
 
-	/** Current queue mode */
-	get queueMode(): "all" | "one-at-a-time" {
-		return this.agent.getQueueMode();
+	/** Current steering mode */
+	get steeringMode(): "all" | "one-at-a-time" {
+		return this.agent.getSteeringMode();
+	}
+
+	/** Current follow-up mode */
+	get followUpMode(): "all" | "one-at-a-time" {
+		return this.agent.getFollowUpMode();
 	}
 
 	/** Current session file path, or undefined if sessions are disabled */
@@ -456,7 +468,7 @@ export class AgentSession {
 	 */
 	async prompt(text: string, options?: PromptOptions): Promise<void> {
 		if (this.isStreaming) {
-			throw new Error("Agent is already processing. Use queueMessage() to queue messages during streaming.");
+			throw new Error("Agent is already processing. Use steer() or followUp() to queue messages during streaming.");
 		}
 
 		// Flush any pending bash messages before the new prompt
@@ -565,12 +577,25 @@ export class AgentSession {
 	}
 
 	/**
-	 * Queue a message to be sent after the current response completes.
-	 * Use when agent is currently streaming.
+	 * Queue a steering message to interrupt the agent mid-run.
+	 * Delivered after current tool execution, skips remaining tools.
 	 */
-	async queueMessage(text: string): Promise<void> {
-		this._queuedMessages.push(text);
-		await this.agent.queueMessage({
+	async steer(text: string): Promise<void> {
+		this._steeringMessages.push(text);
+		this.agent.steer({
+			role: "user",
+			content: [{ type: "text", text }],
+			timestamp: Date.now(),
+		});
+	}
+
+	/**
+	 * Queue a follow-up message to be processed after the agent finishes.
+	 * Delivered only when agent has no more tool calls or steering messages.
+	 */
+	async followUp(text: string): Promise<void> {
+		this._followUpMessages.push(text);
+		this.agent.followUp({
 			role: "user",
 			content: [{ type: "text", text }],
 			timestamp: Date.now(),
@@ -586,11 +611,12 @@ export class AgentSession {
 	 * - Not streaming + no trigger: appends to state/session, no turn
 	 *
 	 * @param message Hook message with customType, content, display, details
-	 * @param triggerTurn If true and not streaming, triggers a new LLM turn
+	 * @param options.triggerTurn If true and not streaming, triggers a new LLM turn
+	 * @param options.deliverAs When streaming, use "steer" (default) for immediate or "followUp" to wait
 	 */
 	async sendHookMessage<T = unknown>(
 		message: Pick<HookMessage<T>, "customType" | "content" | "display" | "details">,
-		triggerTurn?: boolean,
+		options?: { triggerTurn?: boolean; deliverAs?: "steer" | "followUp" },
 	): Promise<void> {
 		const appMessage = {
 			role: "hookMessage" as const,
@@ -602,8 +628,12 @@ export class AgentSession {
 		} satisfies HookMessage<T>;
 		if (this.isStreaming) {
 			// Queue for processing by agent loop
-			await this.agent.queueMessage(appMessage);
-		} else if (triggerTurn) {
+			if (options?.deliverAs === "followUp") {
+				this.agent.followUp(appMessage);
+			} else {
+				this.agent.steer(appMessage);
+			}
+		} else if (options?.triggerTurn) {
 			// Send as prompt - agent loop will emit message events
 			await this.agent.prompt(appMessage);
 		} else {
@@ -619,24 +649,32 @@ export class AgentSession {
 	}
 
 	/**
-	 * Clear queued messages and return them.
+	 * Clear all queued messages and return them.
 	 * Useful for restoring to editor when user aborts.
+	 * @returns Object with steering and followUp arrays
 	 */
-	clearQueue(): string[] {
-		const queued = [...this._queuedMessages];
-		this._queuedMessages = [];
-		this.agent.clearMessageQueue();
-		return queued;
+	clearQueue(): { steering: string[]; followUp: string[] } {
+		const steering = [...this._steeringMessages];
+		const followUp = [...this._followUpMessages];
+		this._steeringMessages = [];
+		this._followUpMessages = [];
+		this.agent.clearAllQueues();
+		return { steering, followUp };
 	}
 
-	/** Number of messages currently queued */
-	get queuedMessageCount(): number {
-		return this._queuedMessages.length;
+	/** Number of pending messages (includes both steering and follow-up) */
+	get pendingMessageCount(): number {
+		return this._steeringMessages.length + this._followUpMessages.length;
 	}
 
-	/** Get queued messages (read-only) */
-	getQueuedMessages(): readonly string[] {
-		return this._queuedMessages;
+	/** Get pending steering messages (read-only) */
+	getSteeringMessages(): readonly string[] {
+		return this._steeringMessages;
+	}
+
+	/** Get pending follow-up messages (read-only) */
+	getFollowUpMessages(): readonly string[] {
+		return this._followUpMessages;
 	}
 
 	get skillsSettings(): Required<SkillsSettings> | undefined {
@@ -678,7 +716,8 @@ export class AgentSession {
 		await this.abort();
 		this.agent.reset();
 		this.sessionManager.newSession(options);
-		this._queuedMessages = [];
+		this._steeringMessages = [];
+		this._followUpMessages = [];
 		this._reconnectToAgent();
 
 		// Emit session_switch event with reason "new" to hooks
@@ -856,12 +895,21 @@ export class AgentSession {
 	// =========================================================================
 
 	/**
-	 * Set message queue mode.
+	 * Set steering message mode.
 	 * Saves to settings.
 	 */
-	setQueueMode(mode: "all" | "one-at-a-time"): void {
-		this.agent.setQueueMode(mode);
-		this.settingsManager.setQueueMode(mode);
+	setSteeringMode(mode: "all" | "one-at-a-time"): void {
+		this.agent.setSteeringMode(mode);
+		this.settingsManager.setSteeringMode(mode);
+	}
+
+	/**
+	 * Set follow-up message mode.
+	 * Saves to settings.
+	 */
+	setFollowUpMode(mode: "all" | "one-at-a-time"): void {
+		this.agent.setFollowUpMode(mode);
+		this.settingsManager.setFollowUpMode(mode);
 	}
 
 	// =========================================================================
@@ -1450,7 +1498,8 @@ export class AgentSession {
 
 		this._disconnectFromAgent();
 		await this.abort();
-		this._queuedMessages = [];
+		this._steeringMessages = [];
+		this._followUpMessages = [];
 
 		// Set new session
 		this.sessionManager.setSessionFile(sessionPath);
@@ -1882,7 +1931,7 @@ export class AgentSession {
 			modelRegistry: this._modelRegistry,
 			model: this.agent.state.model,
 			isIdle: () => !this.isStreaming,
-			hasQueuedMessages: () => this.queuedMessageCount > 0,
+			hasPendingMessages: () => this.pendingMessageCount > 0,
 			abort: () => {
 				this.abort();
 			},
diff --git a/packages/coding-agent/src/core/custom-tools/types.ts b/packages/coding-agent/src/core/custom-tools/types.ts
index 59d800f9..df6093bb 100644
--- a/packages/coding-agent/src/core/custom-tools/types.ts
+++ b/packages/coding-agent/src/core/custom-tools/types.ts
@@ -50,7 +50,7 @@ export interface CustomToolContext {
 	/** Whether the agent is idle (not streaming) */
 	isIdle(): boolean;
 	/** Whether there are queued messages waiting to be processed */
-	hasQueuedMessages(): boolean;
+	hasPendingMessages(): boolean;
 	/** Abort the current agent operation (fire-and-forget, does not wait) */
 	abort(): void;
 }
diff --git a/packages/coding-agent/src/core/hooks/runner.ts b/packages/coding-agent/src/core/hooks/runner.ts
index 56bb53a2..65dfe3f7 100644
--- a/packages/coding-agent/src/core/hooks/runner.ts
+++ b/packages/coding-agent/src/core/hooks/runner.ts
@@ -73,7 +73,7 @@ export class HookRunner {
 	private isIdleFn: () => boolean = () => true;
 	private waitForIdleFn: () => Promise<void> = async () => {};
 	private abortFn: () => void = () => {};
-	private hasQueuedMessagesFn: () => boolean = () => false;
+	private hasPendingMessagesFn: () => boolean = () => false;
 	private newSessionHandler: NewSessionHandler = async () => ({ cancelled: false });
 	private branchHandler: BranchHandler = async () => ({ cancelled: false });
 	private navigateTreeHandler: NavigateTreeHandler = async () => ({ cancelled: false });
@@ -111,7 +111,7 @@ export class HookRunner {
 		/** Function to abort current operation (fire-and-forget) */
 		abort?: () => void;
 		/** Function to check if there are queued messages */
-		hasQueuedMessages?: () => boolean;
+		hasPendingMessages?: () => boolean;
 		/** UI context for interactive prompts */
 		uiContext?: HookUIContext;
 		/** Whether UI is available */
@@ -121,7 +121,7 @@ export class HookRunner {
 		this.isIdleFn = options.isIdle ?? (() => true);
 		this.waitForIdleFn = options.waitForIdle ?? (async () => {});
 		this.abortFn = options.abort ?? (() => {});
-		this.hasQueuedMessagesFn = options.hasQueuedMessages ?? (() => false);
+		this.hasPendingMessagesFn = options.hasPendingMessages ?? (() => false);
 		// Store session handlers for HookCommandContext
 		if (options.newSessionHandler) {
 			this.newSessionHandler = options.newSessionHandler;
@@ -250,7 +250,7 @@ export class HookRunner {
 			model: this.getModel(),
 			isIdle: () => this.isIdleFn(),
 			abort: () => this.abortFn(),
-			hasQueuedMessages: () => this.hasQueuedMessagesFn(),
+			hasPendingMessages: () => this.hasPendingMessagesFn(),
 		};
 	}
 
diff --git a/packages/coding-agent/src/core/hooks/types.ts b/packages/coding-agent/src/core/hooks/types.ts
index e2317d2d..f6503a34 100644
--- a/packages/coding-agent/src/core/hooks/types.ts
+++ b/packages/coding-agent/src/core/hooks/types.ts
@@ -161,7 +161,7 @@ export interface HookContext {
 	/** Abort the current agent operation (fire-and-forget, does not wait) */
 	abort(): void;
 	/** Whether there are queued messages waiting to be processed */
-	hasQueuedMessages(): boolean;
+	hasPendingMessages(): boolean;
 }
 
 /**
diff --git a/packages/coding-agent/src/core/sdk.ts b/packages/coding-agent/src/core/sdk.ts
index 7f945bcc..9545fb39 100644
--- a/packages/coding-agent/src/core/sdk.ts
+++ b/packages/coding-agent/src/core/sdk.ts
@@ -575,7 +575,7 @@ export async function createAgentSession(options: CreateAgentSessionOptions = {}
 		modelRegistry,
 		model: agent.state.model,
 		isIdle: () => !session.isStreaming,
-		hasQueuedMessages: () => session.queuedMessageCount > 0,
+		hasPendingMessages: () => session.pendingMessageCount > 0,
 		abort: () => {
 			session.abort();
 		},
diff --git a/packages/coding-agent/src/modes/interactive/interactive-mode.ts b/packages/coding-agent/src/modes/interactive/interactive-mode.ts
index d9a21d70..9dcd8d6a 100644
--- a/packages/coding-agent/src/modes/interactive/interactive-mode.ts
+++ b/packages/coding-agent/src/modes/interactive/interactive-mode.ts
@@ -404,7 +404,7 @@ export class InteractiveMode {
 			sendMessageHandler: (message, triggerTurn) => {
 				const wasStreaming = this.session.isStreaming;
 				this.session
-					.sendHookMessage(message, triggerTurn)
+					.sendHookMessage(message, { triggerTurn })
 					.then(() => {
 						// For non-streaming cases with display=true, update UI
 						// (streaming cases update via message_end event)
@@ -486,7 +486,7 @@ export class InteractiveMode {
 			abort: () => {
 				this.session.abort();
 			},
-			hasQueuedMessages: () => this.session.queuedMessageCount > 0,
+			hasPendingMessages: () => this.session.pendingMessageCount > 0,
 			uiContext,
 			hasUI: true,
 		});
@@ -522,7 +522,7 @@ export class InteractiveMode {
 						modelRegistry: this.session.modelRegistry,
 						model: this.session.model,
 						isIdle: () => !this.session.isStreaming,
-						hasQueuedMessages: () => this.session.queuedMessageCount > 0,
+						hasPendingMessages: () => this.session.pendingMessageCount > 0,
 						abort: () => {
 							this.session.abort();
 						},
@@ -737,8 +737,9 @@ export class InteractiveMode {
 		this.editor.onEscape = () => {
 			if (this.loadingAnimation) {
 				// Abort and restore queued messages to editor
-				const queuedMessages = this.session.clearQueue();
-				const queuedText = queuedMessages.join("\n\n");
+				const { steering, followUp } = this.session.clearQueue();
+				const allQueued = [...steering, ...followUp];
+				const queuedText = allQueued.join("\n\n");
 				const currentText = this.editor.getText();
 				const combinedText = [queuedText, currentText].filter((t) => t.trim()).join("\n\n");
 				this.editor.setText(combinedText);
@@ -1599,12 +1600,17 @@ export class InteractiveMode {
 
 	private updatePendingMessagesDisplay(): void {
 		this.pendingMessagesContainer.clear();
-		const queuedMessages = this.session.getQueuedMessages();
-		if (queuedMessages.length > 0) {
+		const steeringMessages = this.session.getSteeringMessages();
+		const followUpMessages = this.session.getFollowUpMessages();
+		if (steeringMessages.length > 0 || followUpMessages.length > 0) {
 			this.pendingMessagesContainer.addChild(new Spacer(1));
-			for (const message of queuedMessages) {
-				const queuedText = theme.fg("dim", `Queued: ${message}`);
-				this.pendingMessagesContainer.addChild(new TruncatedText(queuedText, 1, 0));
+			for (const message of steeringMessages) {
+				const text = theme.fg("dim", `Steering: ${message}`);
+				this.pendingMessagesContainer.addChild(new TruncatedText(text, 1, 0));
+			}
+			for (const message of followUpMessages) {
+				const text = theme.fg("dim", `Follow-up: ${message}`);
+				this.pendingMessagesContainer.addChild(new TruncatedText(text, 1, 0));
 			}
 		}
 	}
diff --git a/packages/coding-agent/src/modes/print-mode.ts b/packages/coding-agent/src/modes/print-mode.ts
index 04ff4f36..e2b51544 100644
--- a/packages/coding-agent/src/modes/print-mode.ts
+++ b/packages/coding-agent/src/modes/print-mode.ts
@@ -33,7 +33,7 @@ export async function runPrintMode(
 		hookRunner.initialize({
 			getModel: () => session.model,
 			sendMessageHandler: (message, triggerTurn) => {
-				session.sendHookMessage(message, triggerTurn).catch((e) => {
+				session.sendHookMessage(message, { triggerTurn }).catch((e) => {
 					console.error(`Hook sendMessage failed: ${e instanceof Error ? e.message : String(e)}`);
 				});
 			},
@@ -64,7 +64,7 @@ export async function runPrintMode(
 						modelRegistry: session.modelRegistry,
 						model: session.model,
 						isIdle: () => !session.isStreaming,
-						hasQueuedMessages: () => session.queuedMessageCount > 0,
+						hasPendingMessages: () => session.pendingMessageCount > 0,
 						abort: () => {
 							session.abort();
 						},
diff --git a/packages/coding-agent/src/modes/rpc/rpc-mode.ts b/packages/coding-agent/src/modes/rpc/rpc-mode.ts
index 84135753..090f4d5b 100644
--- a/packages/coding-agent/src/modes/rpc/rpc-mode.ts
+++ b/packages/coding-agent/src/modes/rpc/rpc-mode.ts
@@ -182,7 +182,7 @@ export async function runRpcMode(session: AgentSession): Promise<never> {
 		hookRunner.initialize({
 			getModel: () => session.agent.state.model,
 			sendMessageHandler: (message, triggerTurn) => {
-				session.sendHookMessage(message, triggerTurn).catch((e) => {
+				session.sendHookMessage(message, { triggerTurn }).catch((e) => {
 					output(error(undefined, "hook_send", e.message));
 				});
 			},
@@ -216,7 +216,7 @@ export async function runRpcMode(session: AgentSession): Promise<never> {
 						modelRegistry: session.modelRegistry,
 						model: session.model,
 						isIdle: () => !session.isStreaming,
-						hasQueuedMessages: () => session.queuedMessageCount > 0,
+						hasPendingMessages: () => session.pendingMessageCount > 0,
 						abort: () => {
 							session.abort();
 						},
@@ -284,7 +284,7 @@ export async function runRpcMode(session: AgentSession): Promise<never> {
 					sessionId: session.sessionId,
 					autoCompactionEnabled: session.autoCompactionEnabled,
 					messageCount: session.messages.length,
-					queuedMessageCount: session.queuedMessageCount,
+					pendingMessageCount: session.pendingMessageCount,
 				};
 				return success(id, "get_state", state);
 			}
diff --git a/packages/coding-agent/src/modes/rpc/rpc-types.ts b/packages/coding-agent/src/modes/rpc/rpc-types.ts
index a58b86c9..b40fa9a7 100644
--- a/packages/coding-agent/src/modes/rpc/rpc-types.ts
+++ b/packages/coding-agent/src/modes/rpc/rpc-types.ts
@@ -74,7 +74,7 @@ export interface RpcSessionState {
 	sessionId: string;
 	autoCompactionEnabled: boolean;
 	messageCount: number;
-	queuedMessageCount: number;
+	pendingMessageCount: number;
 }
 
 // ============================================================================
diff --git a/packages/coding-agent/test/agent-session-concurrent.test.ts b/packages/coding-agent/test/agent-session-concurrent.test.ts
index 75c68c2e..30f3692d 100644
--- a/packages/coding-agent/test/agent-session-concurrent.test.ts
+++ b/packages/coding-agent/test/agent-session-concurrent.test.ts
@@ -144,7 +144,7 @@ describe("AgentSession concurrent prompt guard", () => {
 
 		// queueMessage should work while streaming
 		expect(() => session.queueMessage("Queued message")).not.toThrow();
-		expect(session.queuedMessageCount).toBe(1);
+		expect(session.pendingMessageCount).toBe(1);
 
 		// Cleanup
 		await session.abort();