MPI - Use multiple threads to listen for incoming messages

I am working on a project that uses MPI routines and multiple threads for sending and receiving messages. I would like each receiving thread to focus on a different incoming message instead of having two or more trying to receive the same one. Is there a way to achieve this?

I don't know if this helps but I am currently using Iprobe() to check for incoming messages and Irecv() with Test() to check if the thread has received the whole message.