Mbed TLS - Multiple connections

I’m attempting to use the TLSSocket, and I’m able to get a single connection working. If I try, however, to establish a second connection to a different server, the connection fails with error code -3011. I tried using the same thread and different thread to establish the connection, but both failed if a TLS connection was already in use.

Is there a trick to getting this to work or an example of this working that I’ve missed? I’m using Mbed OS 6.2.0 for this test.