Detaching from "Sigsbee", Semmes was advanced to the temporary rank of commander on 1 February 1944. He took command of the destroyer on 12 August 1944 and remained her commanding officer until August 1945. During his time in command, "Picking" escorted troop transports during the Leyte campaign in October 1944 – narrowly missing action in the Battle of Leyte Gulf – and escorted amphibious forces and rendered gunfire support to troops ashore during the Luzon campaign in January 1945.