Strange, looks like you are not stopping the server before starting again.
A simple and painless way would be to use nodemon (https://nodemon.io). It acts on changes of your code and restarts the server. You will have to reload the browser yourself.
npm i -g nodemon
nodemon [app|server|yourservername].js
Live Reload goes a step further, as it triggers the browser to reload the page (using websockets). You may check out supervisor as suggested. I personally prefer lite-server, which requires no configuration to get live reload. Just start it in your applications root directory.
npm i -g lite-server
lite-server