Some comments and suggestions.
1-In TCP detecting that the other side has silently disconnected it very difficult if not impossible. A client could disconnect sending a RST TCP message to the server or sending a FIN message, this is the good case. Sometimes the client can disconnect without notice (crash, cable disconnection, etc).
One suggestion here is that you consider the way client and server will communicate. For example, you can use function “select” to set a timeout for receiving a message from client and detect a silent client.
Additionally, depending on the programming language and operating system you may need to handle broken pipe (SIGPIPE) signal (in Linux, with C/C++), for a server trying to send a message through a connection closed by the client.
2-Regarding semaphores, you shouldn’t need to clean semaphores in any especial way when a client disconnect. By applying common good practices of locking and unlocking mutexes should be enough. Also with resources like file descriptors, you need to release them before ending the thread either by returning from the thread start function or with pthread_exit. Maybe I didn’t understand this part of the question.
3-Regarding threads: if you work with multiple threads to optimum is to have a pool of pre-created consumer/worker threads that will check the circular buffer to consume the next available connection. Creating and destroying threads is costly for the operating system.
Threads are resource consuming and you may exhaust operating system resources if you need to create 1,000 threads for example.
Another alternative, is to have only one consumer thread that manages all connections (sockets) asynchronously: a) Each connection has its own state. b) The main thread goes through all connections and use function “select” to detect when connection reads or a writes are ready. 3)Use of non-blocking sockets but this is not essential because from select you know which sockets are ready and will not block.
You can use functions select, poll, epoll.
One link about select and non-blocking sockets: Using select() for non-blocking sockets
Other link with an example: http://linux.die.net/man/2/select