diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index c4887db15a..b492c52e3a 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -295,9 +295,9 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
     RCLCPP_WARN(
       get_logger(),
       "Parameter 'configure_components_on_start' is deprecated. "
-      "Use 'hardware_interface_state_after_start.inactive' instead, to set component's initial "
+      "Use 'hardware_components_initial_state.inactive' instead, to set component's initial "
       "state to 'inactive'. Don't use this parameters in combination with the new "
-      "'hardware_interface_state_after_start' parameter structure.");
+      "'hardware_components_initial_state' parameter structure.");
     set_components_to_state(
       "configure_components_on_start",
       rclcpp_lifecycle::State(
@@ -323,7 +323,7 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
       get_logger(),
       "Parameter 'activate_components_on_start' is deprecated. "
       "Components are activated per default. Don't use this parameters in combination with the new "
-      "'hardware_interface_state_after_start' parameter structure.");
+      "'hardware_components_initial_state' parameter structure.");
     rclcpp_lifecycle::State active_state(
       State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
     for (const auto & component : activate_components_on_start)