Poly(ethylene terephthalate) (PET) and poly(ethylene glycol) (PEG) copolymers cross-linked with pentaerythritol, a four-way cross-linker, are prepared to compare their mechanical and shape memory properties with the one cross-linked by glycerol. Composition of PEG and pentaerythritol is varied to search for the one with the best mechanical and shape memory properties. The highest shape recovery rate is observed for the copolymer composed of 30 mol% PEG-200 and 2.5 mol% pentaerythritol. Four-way cross-linking by pentaerythritol significantly improves shape recovery rate and retention of high shape recovery rate after repeated use compared to the one cross-linked by glycerol, a three-way cross-linker, and difference and advantage of additional cross-linking point are discussed.