Understanding how local communities perceive and depend on mangrove ecosystem services (MES) is important for translating and incorporating their benefits, priorities, and preferences into conservation and decision-making processes. We used focus group discussions, key informant interviews, household questionnaires, and direct observations to explore how local communities in the Rufiji Delta perceive a multitude of MES and factors influencing their perceptions. Sixteen MES were identified by the respondents. Provisioning services were the most highly identified services, accounting for 67% of the overall responses, followed by regulating (53%), cultural (45%), and supporting (45%) services. Poles for building, firewood for cooking, coastal protection, and habitats for fisheries were perceived as the most important MES to sustain local livelihoods, although the perceptions differed between sites. Distance from household homes to mangroves and residence time were significant predictors of the local communities’ awareness of all identified MES. Gender of household heads and performance of local management committees also determined the local communities’ awareness of provisioning, regulating, and cultural services. We conclude that perceptions of MES are context-specific and influenced by multiple factors. We believe a deeper understanding of local stakeholders’ preferences for MES can help strengthen the link between local communities and conservation actors and can provide a basis for sustainable management of mangrove forests.