diff --git a/rasa_sdk/grpc_server.py b/rasa_sdk/grpc_server.py
index 65559403..4660932c 100644
--- a/rasa_sdk/grpc_server.py
+++ b/rasa_sdk/grpc_server.py
@@ -3,6 +3,7 @@
 import signal
 
 import asyncio
+import time
 
 import grpc
 import logging
@@ -57,6 +58,9 @@
 logger = logging.getLogger(__name__)
 
 
+GRPC_ACTION_SERVER_NAME = "ActionServer"
+
+
 class GRPCActionServerWebhook(action_webhook_pb2_grpc.ActionServiceServicer):
     """Runs webhook RPC which is served through gRPC server."""
 
@@ -173,12 +177,12 @@ def convert_metadata_to_multidict(
             if not result:
                 return action_webhook_pb2.WebhookResponse()
 
-            set_grpc_span_attributes(span, action_call, method_name="Webhook")
+            _set_grpc_span_attributes(span, action_call, method_name="Webhook")
             response = action_webhook_pb2.WebhookResponse()
             return ParseDict(result, response)
 
 
-def set_grpc_span_attributes(
+def _set_grpc_span_attributes(
     span: Any, action_call: Dict[str, Any], method_name: str
 ) -> None:
     """Sets grpc span attributes."""
@@ -187,18 +191,18 @@ def set_grpc_span_attributes(
         span.set_attribute("grpc.method", method_name)
 
 
-def get_signal_name(signal_number: int) -> str:
+def _get_signal_name(signal_number: int) -> str:
     """Return the signal name for the given signal number."""
     return signal.Signals(signal_number).name
 
 
-def initialise_interrupts(server: grpc.aio.Server) -> None:
+def _initialise_interrupts(server: grpc.aio.Server) -> None:
     """Initialise handlers for kernel signal interrupts."""
 
     async def handle_sigint(signal_received: int):
         """Handle the received signal."""
         logger.info(
-            f"Received {get_signal_name(signal_received)} signal."
+            f"Received {_get_signal_name(signal_received)} signal."
             "Stopping gRPC server..."
         )
         await server.stop(NO_GRACE_PERIOD)
@@ -213,13 +217,38 @@ async def handle_sigint(signal_received: int):
     )
 
 
-def _configure_health_server(server: grpc.Server):
+def _initialise_health_service(server: grpc.Server):
+    """Initialise the health service.
+
+    Args:
+        server: The gRPC server.
+    """
     health_servicer = health.HealthServicer(
         experimental_non_blocking=True,
         experimental_thread_pool=futures.ThreadPoolExecutor(max_workers=10),
     )
+    health_servicer.set(GRPC_ACTION_SERVER_NAME, health_pb2.HealthCheckResponse.SERVING)
     health_pb2_grpc.add_HealthServicer_to_server(health_servicer, server)
-    health_servicer.set("ActionServer", health_pb2.HealthCheckResponse.SERVING)
+
+
+def _initialise_action_service(server: grpc.Server,
+                               action_package_name: Union[str, types.ModuleType],
+                               auto_reload: bool,
+                               endpoints: str):
+    """Initialise the action service.
+
+    Args:
+        server: The gRPC server.
+        action_package_name: Name of the package which contains the custom actions.
+        auto_reload: Enable auto-reloading of modules containing Action subclasses.
+        endpoints: Path to the endpoints file.
+    """
+    executor = ActionExecutor()
+    executor.register_package(action_package_name)
+    tracer_provider = get_tracer_provider(endpoints)
+    action_webhook_pb2_grpc.add_ActionServiceServicer_to_server(
+        GRPCActionServerWebhook(executor, auto_reload, tracer_provider), server
+    )
 
 
 async def run_grpc(
@@ -247,15 +276,9 @@ async def run_grpc(
         futures.ThreadPoolExecutor(max_workers=workers),
         compression=grpc.Compression.Gzip,
     )
-    initialise_interrupts(server)
-    executor = ActionExecutor()
-    executor.register_package(action_package_name)
-    tracer_provider = get_tracer_provider(endpoints)
-    action_webhook_pb2_grpc.add_ActionServiceServicer_to_server(
-        GRPCActionServerWebhook(executor, auto_reload, tracer_provider), server
-    )
-
-    _configure_health_server(server)
+    _initialise_interrupts(server)
+    _initialise_health_service(server)
+    _initialise_action_service(server, action_package_name, auto_reload, endpoints)
 
     ca_cert = file_as_bytes(ssl_ca_file) if ssl_ca_file else None