diff --git a/libcontainer/cgroups/systemd/common.go b/libcontainer/cgroups/systemd/common.go
index c9995bfe6c4..3506c82746d 100644
--- a/libcontainer/cgroups/systemd/common.go
+++ b/libcontainer/cgroups/systemd/common.go
@@ -388,6 +388,15 @@ func resetFailedUnit(cm *dbusConnManager, name string) {
 	}
 }
 
+func getUnitProperty(cm *dbusConnManager, unitName string, propertyName string) (*systemdDbus.Property, error) {
+	var prop *systemdDbus.Property
+	err := cm.retryOnDisconnect(func(c *systemdDbus.Conn) (Err error) {
+		prop, Err = c.GetUnitPropertyContext(context.TODO(), unitName, propertyName)
+		return Err
+	})
+	return prop, err
+}
+
 func setUnitProperties(cm *dbusConnManager, name string, properties ...systemdDbus.Property) error {
 	return cm.retryOnDisconnect(func(c *systemdDbus.Conn) error {
 		return c.SetUnitPropertiesContext(context.TODO(), name, true, properties...)
diff --git a/libcontainer/cgroups/systemd/systemd_test.go b/libcontainer/cgroups/systemd/systemd_test.go
index a444ff61330..55685d0553b 100644
--- a/libcontainer/cgroups/systemd/systemd_test.go
+++ b/libcontainer/cgroups/systemd/systemd_test.go
@@ -47,6 +47,110 @@ func newManager(config *configs.Cgroup) cgroups.Manager {
 	return NewLegacyManager(config, nil)
 }
 
+// TestPodSkipDevicesUpdate checks that updating a pod having SkipDevices: true
+// does not result in spurious "permission denied" errors in a container
+// running under the pod. The test is somewhat similar in nature to the
+// @test "update devices [minimal transition rules]" in tests/integration,
+// but uses a pod.
+func TestPodSkipDevicesUpdate(t *testing.T) {
+	if !IsRunningSystemd() {
+		t.Skip("Test requires systemd.")
+	}
+	if os.Geteuid() != 0 {
+		t.Skip("Test requires root.")
+	}
+
+	podName := "system-runc_test_pod" + t.Name() + ".slice"
+	podConfig := &configs.Cgroup{
+		Parent: "system.slice",
+		Name:   podName,
+		Resources: &configs.Resources{
+			PidsLimit:   42,
+			Memory:      32 * 1024 * 1024,
+			SkipDevices: true,
+		},
+	}
+	// Create "pod" cgroup (a systemd slice to hold containers).
+	pm := newManager(podConfig)
+	defer pm.Destroy() //nolint:errcheck
+	if err := pm.Apply(-1); err != nil {
+		t.Fatal(err)
+	}
+	if err := pm.Set(podConfig.Resources); err != nil {
+		t.Fatal(err)
+	}
+
+	containerConfig := &configs.Cgroup{
+		Parent:      podName,
+		ScopePrefix: "test",
+		Name:        "PodSkipDevicesUpdate",
+		Resources: &configs.Resources{
+			Devices: []*devices.Rule{
+				// Allow access to /dev/null.
+				{
+					Type:        devices.CharDevice,
+					Major:       1,
+					Minor:       3,
+					Permissions: "rwm",
+					Allow:       true,
+				},
+			},
+		},
+	}
+
+	// Create a "container" within the "pod" cgroup.
+	// This is not a real container, just a process in the cgroup.
+	cmd := exec.Command("bash", "-c", "while true; do echo > /dev/null; done")
+	cmd.Env = append(os.Environ(), "LANG=C")
+	var stderr bytes.Buffer
+	cmd.Stderr = &stderr
+	if err := cmd.Start(); err != nil {
+		t.Fatal(err)
+	}
+	// Make sure to not leave a zombie.
+	defer func() {
+		// These may fail, we don't care.
+		_ = cmd.Process.Kill()
+		_ = cmd.Wait()
+	}()
+
+	// Put the process into a cgroup.
+	cm := newManager(containerConfig)
+	defer cm.Destroy() //nolint:errcheck
+
+	if err := cm.Apply(cmd.Process.Pid); err != nil {
+		t.Fatal(err)
+	}
+	// Check that we put the "container" into the "pod" cgroup.
+	if !strings.HasPrefix(cm.Path("devices"), pm.Path("devices")) {
+		t.Fatalf("expected container cgroup path %q to be under pod cgroup path %q",
+			cm.Path("devices"), pm.Path("devices"))
+	}
+	if err := cm.Set(containerConfig.Resources); err != nil {
+		t.Fatal(err)
+	}
+
+	// Now update the pod a few times.
+	for i := 0; i < 42; i++ {
+		podConfig.Resources.PidsLimit++
+		podConfig.Resources.Memory += 1024 * 1024
+		if err := pm.Set(podConfig.Resources); err != nil {
+			t.Fatal(err)
+		}
+	}
+	// Kill the "container".
+	if err := cmd.Process.Kill(); err != nil {
+		t.Fatal(err)
+	}
+
+	_ = cmd.Wait()
+
+	// "Container" stderr should be empty.
+	if stderr.Len() != 0 {
+		t.Fatalf("container stderr not empty: %s", stderr.String())
+	}
+}
+
 func testSkipDevices(t *testing.T, skipDevices bool, expected []string) {
 	if !IsRunningSystemd() {
 		t.Skip("Test requires systemd.")
@@ -219,9 +323,6 @@ func TestFreezePodCgroup(t *testing.T) {
 		t.Fatal(err)
 	}
 
-	if err := pm.Freeze(configs.Frozen); err != nil {
-		t.Fatal(err)
-	}
 	if err := pm.Set(podConfig.Resources); err != nil {
 		t.Fatal(err)
 	}
diff --git a/libcontainer/cgroups/systemd/v1.go b/libcontainer/cgroups/systemd/v1.go
index 1f533c81747..1a8e1e3c6c1 100644
--- a/libcontainer/cgroups/systemd/v1.go
+++ b/libcontainer/cgroups/systemd/v1.go
@@ -10,10 +10,12 @@ import (
 	"sync"
 
 	systemdDbus "github.com/coreos/go-systemd/v22/dbus"
+	"github.com/godbus/dbus/v5"
+	"github.com/sirupsen/logrus"
+
 	"github.com/opencontainers/runc/libcontainer/cgroups"
 	"github.com/opencontainers/runc/libcontainer/cgroups/fs"
 	"github.com/opencontainers/runc/libcontainer/configs"
-	"github.com/sirupsen/logrus"
 )
 
 type legacyManager struct {
@@ -278,18 +280,23 @@ func getSubsystemPath(c *configs.Cgroup, subsystem string) (string, error) {
 }
 
 func (m *legacyManager) Freeze(state configs.FreezerState) error {
+	err := m.doFreeze(state)
+	if err == nil {
+		m.cgroups.Resources.Freezer = state
+	}
+	return err
+}
+
+// doFreeze is the same as Freeze but without
+// changing the m.cgroups.Resources.Frozen field.
+func (m *legacyManager) doFreeze(state configs.FreezerState) error {
 	path, ok := m.paths["freezer"]
 	if !ok {
 		return errSubsystemDoesNotExist
 	}
-	prevState := m.cgroups.Resources.Freezer
-	m.cgroups.Resources.Freezer = state
 	freezer := &fs.FreezerGroup{}
-	if err := freezer.Set(path, m.cgroups.Resources); err != nil {
-		m.cgroups.Resources.Freezer = prevState
-		return err
-	}
-	return nil
+	resources := &configs.Resources{Freezer: state}
+	return freezer.Set(path, resources)
 }
 
 func (m *legacyManager) GetPids() ([]int, error) {
@@ -325,6 +332,61 @@ func (m *legacyManager) GetStats() (*cgroups.Stats, error) {
 	return stats, nil
 }
 
+// freezeBeforeSet answers whether there is a need to freeze the cgroup before
+// applying its systemd unit properties, and thaw after, while avoiding
+// unnecessary freezer state changes.
+//
+// The reason why we have to freeze is that systemd's application of device
+// rules is done disruptively, resulting in spurious errors to common devices
+// (unlike our fs driver, they will happily write deny-all rules to running
+// containers). So we have to freeze the container to avoid the container get
+// an occasional "permission denied" error.
+func (m *legacyManager) freezeBeforeSet(unitName string, r *configs.Resources) (needsFreeze, needsThaw bool, err error) {
+	// Special case for SkipDevices, as used by Kubernetes to create pod
+	// cgroups with allow-all device policy).
+	if r.SkipDevices {
+		// No need to freeze if SkipDevices is set, and either
+		// (1) systemd unit does not (yet) exist, or
+		// (2) it has DevicePolicy=auto and empty DeviceAllow list.
+		//
+		// Interestingly, (1) and (2) are the same here because
+		// a non-existent unit returns default properties,
+		// and settings in (2) are the defaults.
+		//
+		// Do not return errors from getUnitProperty, as they alone
+		// should not prevent Set from working.
+		devPolicy, e := getUnitProperty(m.dbus, unitName, "DevicePolicy")
+		if e == nil && devPolicy.Value == dbus.MakeVariant("auto") {
+			devAllow, e := getUnitProperty(m.dbus, unitName, "DeviceAllow")
+			if e == nil && devAllow.Value == dbus.MakeVariant([]deviceAllowEntry{}) {
+				needsFreeze = false
+				needsThaw = false
+				return
+			}
+		}
+	}
+
+	needsFreeze = true
+	needsThaw = true
+
+	// Check the current freezer state.
+	freezerState, err := m.GetFreezerState()
+	if err != nil {
+		return
+	}
+	if freezerState == configs.Frozen {
+		// Already frozen, and should stay frozen.
+		needsFreeze = false
+		needsThaw = false
+	}
+
+	if r.Freezer == configs.Frozen {
+		// Will be frozen anyway -- no need to thaw.
+		needsThaw = false
+	}
+	return
+}
+
 func (m *legacyManager) Set(r *configs.Resources) error {
 	// If Paths are set, then we are just joining cgroups paths
 	// and there is no need to set any values.
@@ -339,34 +401,27 @@ func (m *legacyManager) Set(r *configs.Resources) error {
 		return err
 	}
 
-	// Figure out the current freezer state, so we can revert to it after we
-	// temporarily freeze the container.
-	targetFreezerState, err := m.GetFreezerState()
+	unitName := getUnitName(m.cgroups)
+	needsFreeze, needsThaw, err := m.freezeBeforeSet(unitName, r)
 	if err != nil {
 		return err
 	}
-	if targetFreezerState == configs.Undefined {
-		targetFreezerState = configs.Thawed
-	}
 
-	// We have to freeze the container while systemd sets the cgroup settings.
-	// The reason for this is that systemd's application of DeviceAllow rules
-	// is done disruptively, resulting in spurrious errors to common devices
-	// (unlike our fs driver, they will happily write deny-all rules to running
-	// containers). So we freeze the container to avoid them hitting the cgroup
-	// error. But if the freezer cgroup isn't supported, we just warn about it.
-	if err := m.Freeze(configs.Frozen); err != nil {
-		logrus.Infof("freeze container before SetUnitProperties failed: %v", err)
+	if needsFreeze {
+		if err := m.doFreeze(configs.Frozen); err != nil {
+			// If freezer cgroup isn't supported, we just warn about it.
+			logrus.Infof("freeze container before SetUnitProperties failed: %v", err)
+		}
 	}
-
-	if err := setUnitProperties(m.dbus, getUnitName(m.cgroups), properties...); err != nil {
-		_ = m.Freeze(targetFreezerState)
-		return err
+	setErr := setUnitProperties(m.dbus, unitName, properties...)
+	if needsThaw {
+		if err := m.doFreeze(configs.Thawed); err != nil {
+			logrus.Infof("thaw container after SetUnitProperties failed: %v", err)
+		}
+	}
+	if setErr != nil {
+		return setErr
 	}
-
-	// Reset freezer state before we apply the configuration, to avoid clashing
-	// with the freezer setting in the configuration.
-	_ = m.Freeze(targetFreezerState)
 
 	for _, sys := range legacySubsystems {
 		// Get the subsystem path, but don't error out for not found cgroups.
diff --git a/libcontainer/integration/exec_test.go b/libcontainer/integration/exec_test.go
index 06d9d31903d..1e8e185f394 100644
--- a/libcontainer/integration/exec_test.go
+++ b/libcontainer/integration/exec_test.go
@@ -493,20 +493,33 @@ func TestAdditionalGroups(t *testing.T) {
 }
 
 func TestFreeze(t *testing.T) {
-	testFreeze(t, false)
-}
-
-func TestSystemdFreeze(t *testing.T) {
-	if !systemd.IsRunningSystemd() {
-		t.Skip("Test requires systemd.")
+	for _, systemd := range []bool{true, false} {
+		for _, set := range []bool{true, false} {
+			name := ""
+			if systemd {
+				name += "Systemd"
+			} else {
+				name += "FS"
+			}
+			if set {
+				name += "ViaSet"
+			} else {
+				name += "ViaPauseResume"
+			}
+			t.Run(name, func(t *testing.T) {
+				testFreeze(t, systemd, set)
+			})
+		}
 	}
-	testFreeze(t, true)
 }
 
-func testFreeze(t *testing.T, systemd bool) {
+func testFreeze(t *testing.T, withSystemd bool, useSet bool) {
 	if testing.Short() {
 		return
 	}
+	if withSystemd && !systemd.IsRunningSystemd() {
+		t.Skip("Test requires systemd.")
+	}
 
 	rootfs, err := newRootfs()
 	ok(t, err)
@@ -514,7 +527,7 @@ func testFreeze(t *testing.T, systemd bool) {
 
 	config := newTemplateConfig(t, &tParam{
 		rootfs:  rootfs,
-		systemd: systemd,
+		systemd: withSystemd,
 	})
 	container, err := newContainer(t, config)
 	ok(t, err)
@@ -535,16 +548,28 @@ func testFreeze(t *testing.T, systemd bool) {
 	defer stdinW.Close() //nolint: errcheck
 	ok(t, err)
 
-	err = container.Pause()
+	if !useSet {
+		err = container.Pause()
+	} else {
+		config.Cgroups.Resources.Freezer = configs.Frozen
+		err = container.Set(*config)
+	}
 	ok(t, err)
+
 	state, err := container.Status()
 	ok(t, err)
-	err = container.Resume()
-	ok(t, err)
 	if state != libcontainer.Paused {
 		t.Fatal("Unexpected state: ", state)
 	}
 
+	if !useSet {
+		err = container.Resume()
+	} else {
+		config.Cgroups.Resources.Freezer = configs.Thawed
+		err = container.Set(*config)
+	}
+	ok(t, err)
+
 	_ = stdinW.Close()
 	waitProcess(pconfig, t)
 }
diff --git a/libcontainer/integration/template_test.go b/libcontainer/integration/template_test.go
index c9ebff7e05f..039cd73751c 100644
--- a/libcontainer/integration/template_test.go
+++ b/libcontainer/integration/template_test.go
@@ -2,6 +2,7 @@ package integration
 
 import (
 	"strconv"
+	"strings"
 	"testing"
 	"time"
 
@@ -215,7 +216,7 @@ func newTemplateConfig(t *testing.T, p *tParam) *configs.Config {
 
 	if p.systemd {
 		id := strconv.FormatInt(-int64(time.Now().Nanosecond()), 36)
-		config.Cgroups.Name = t.Name() + id
+		config.Cgroups.Name = strings.ReplaceAll(t.Name(), "/", "_") + id
 		// do not change Parent (see newContainer)
 		config.Cgroups.Parent = "system.slice"
 		config.Cgroups.ScopePrefix = "runc-test"
diff --git a/libcontainer/integration/utils_test.go b/libcontainer/integration/utils_test.go
index 0ffbf179ba8..b4fa6cf655f 100644
--- a/libcontainer/integration/utils_test.go
+++ b/libcontainer/integration/utils_test.go
@@ -151,7 +151,7 @@ func copyBusybox(dest string) error {
 }
 
 func newContainer(t *testing.T, config *configs.Config) (libcontainer.Container, error) {
-	name := t.Name() + strconv.FormatInt(int64(time.Now().Nanosecond()), 35)
+	name := strings.ReplaceAll(t.Name(), "/", "_") + strconv.FormatInt(-int64(time.Now().Nanosecond()), 35)
 	root, err := newTestRoot()
 	if err != nil {
 		return nil, err