This happens when you did not stop your server correctly, for example, when it was suspended using Ctrl + Z or twice starting the server.
If Ctrl + Z is stopped, this works for me:
Get running process using
$ ps ax | grep rails 18192 pts/28 Sl+ 0:05 /home/admin/.rvm/rubies/ruby-2.1.2/bin/ruby bin/rails c 20496 pts/23 Tl 0:08 /home/admin/.rvm/rubies/ruby-2.1.2/bin/ruby bin/rails s 20919 pts/23 S+ 0:00 grep --color=auto rails
And then start the process where the rails server is running:
$ kill 20496
If it does not close after a few seconds, you can try to "force close" with -9 (but this will prevent any Rails cleanup):
$ kill -9 20496
Now you can start the server again:
$ rails s
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