An intravenous (“IV”) liquid delivery system includes: an IV pump tubing set; a shuttle pump or membrane pump actuator operable with the IV pump tubing set; upstream and downstream valve actuators operable with the IV pump tubing set; the IV pump tubing set including an air removal device; an air detector configured to sense air in the IV pump tubing set; a control unit configured and arranged to (i) open the upstream valve actuator and close the downstream valve actuator to allow the pump actuator to draw liquid into a pump actuation portion of the IV pump tubing set, and (ii) close the upstream valve actuator and open the downstream valve actuator to allow the pump actuator to push liquid out of the pump actuation portion, the system configured to attempt to remove the air via the air removal device while operating the upstream and downstream valve actuators according to (i) and (ii).