Techniques for reading and caching system information of non-serving systems in order to shorten call setup delay are described. A user equipment (UE) may communicate with a serving system, e.g., in an idle mode or a connected mode. The UE may periodically read system information of at least one non-serving system, e.g., as a background task. The UE may cache (i.e., store) the system information of the at least one non-serving system at the UE. The UE may thereafter access a particular non-serving system among the at least one non-serving system based on access parameters in the cached system information. By caching the system information, the UE can avoid reading the system information of the particular non-serving system at the time of system access, which may then reduce call setup delay.