A radio communication system comprises a radio terminal and a plurality of base stations. The base stations communicate with the radio terminal by connecting radio links with mutually different frequencies. The base stations comprise a control signal transmitter configured to transmit control signals in a plurality of control signal time slots included in one frame. The radio terminal comprises a reception time slot determining unit configured to determine reception time slots for receiving the control signals transmitted from the plurality of base stations, from among the plurality of control signal time slots, a control signal receiver configured to receive the control signals in the reception time slots determined by the reception time slot determining unit, and a communication signal transmitter configured to transmit communication signal to the base station in an uplink communication signal time slot other than the control signal time slots.