The main goal of this work is to set up a solution that allows the V2X system to optimize network resources selection under a certain number of constraints related to the quality of service and energy consumption. In this paper, we design a novel neighboring scheme to enhance the existent communication policies of awareness messages. Vehicles and Vulnerable Road Users (VRUs) (such as pedestrians, cyclists, motorized two wheels, etc) will be able to efficiently adapt the frequency of sending awareness messages based not only on the variation in location dynamics (e.g. velocity, position, direction) but also on the environment's context. Context-aware and dynamic adaptation of the transmission periodicity undoubtedly helps in reducing unnecessary network signalization and saving the energy of the VRUs' connected devices. To this end, we demonstrate how the proposed scheme can optimize the network load of message transmission and thus the energy consumption, especially for VRUs. Further, we study the impact of the adaptation on the reliability and latency of the VRU protection system. Simulation results suggest that there is an interesting gain in-network and application-related metrics with the best configurations of messages periodicity.