Methods and apparatus for efficient transmission of data by half-duplex transceivers in satellite communication systems are provided. Time reference for the return link is skewed or time-lagged relative to the time reference for the forward link to reduce the amount of guard time required to separate return link transmission from forward link reception by the half-duplex transceiver of a user terminal. The guard time is determined based on a maximum differential round-trip propagation delay and transition times of the half-duplexer transceiver to switch between transmit and receive modes. In a satellite communication system in which a large number of active user terminals are present in a beam coverage, random time offsets are applied to spread approximately equal traffic loads across the time offsets.