Responsive protocols are communication protocols which ensure timely and reliable recovery when error events occur. Protocol synthesis for design of responsive protocols is to derive a protocol specification based on a service specification. In the previous methods, if the service specification includes simultaneous transmission of primitives from a high layer to a low layer through different service access points, then the derived protocol specification includes protocol errors of unspecified reception caused by message collisions. Also, they only includes a recovery function such as retransmission of messages. This is not enough for recovery from abnormal states due to coordination loss. This paper extends a class of derived protocol specifications to include message collisions which usually occur in real communication protocols. Furthermore, this paper proposes a new method for synthesis of a responsive protocal specification derived from a service specification such that the derived protocol specification is free from protocol erros of unspecified receptions caused by message collisions and includes two recovery functions: message retransmission and checkpoint restart functions.