An engine control system includes: a target air mass module configured to determine a target mass of air within a cylinder of an engine based on a torque request; a boost control module configured to control boost provided by a turbocharger based on the torque request; an exhaust gas recirculation (EGR) control module configured to selectively: set a target opening of an EGR valve based on the target mass of air; set the target opening of the EGR valve to a predetermined minimum opening, where the predetermined minimum opening is greater than zero percent open; and control opening of the EGR valve based on the target opening of the EGR valve.