diff --git a/hardware_interface/doc/mock_components_userdoc.rst b/hardware_interface/doc/mock_components_userdoc.rst
index a285408b5f..0e74b9fb2d 100644
--- a/hardware_interface/doc/mock_components_userdoc.rst
+++ b/hardware_interface/doc/mock_components_userdoc.rst
@@ -25,7 +25,7 @@ Features:
 Parameters
 ,,,,,,,,,,
 
-fake_sensor_commands (optional; boolean; default: false)
+mock_sensor_commands (optional; boolean; default: false)
   Creates fake command interfaces for faking sensor measurements with an external command.
   Those interfaces are usually used by a :ref:`forward controller <forward_command_controller_userdoc>` to provide access from ROS-world.
 
diff --git a/hardware_interface/include/mock_components/generic_system.hpp b/hardware_interface/include/mock_components/generic_system.hpp
index 968c781e44..ce9ff19d7e 100644
--- a/hardware_interface/include/mock_components/generic_system.hpp
+++ b/hardware_interface/include/mock_components/generic_system.hpp
@@ -108,7 +108,7 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
     std::vector<InterfaceType> & target_interfaces, bool using_state_interfaces);
 
   bool use_fake_gpio_command_interfaces_;
-  bool use_fake_sensor_command_interfaces_;
+  bool use_mock_sensor_command_interfaces_;
 
   double position_state_following_offset_;
   std::string custom_interface_with_following_offset_;
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
index 3b9746ad47..b6f298b5c3 100644
--- a/hardware_interface/src/mock_components/generic_system.cpp
+++ b/hardware_interface/src/mock_components/generic_system.cpp
@@ -57,16 +57,29 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
     }
   };
 
-  // check if to create fake command interface for sensor
-  auto it = info_.hardware_parameters.find("fake_sensor_commands");
+  // check if to create mock command interface for sensor
+  auto it = info_.hardware_parameters.find("mock_sensor_commands");
   if (it != info_.hardware_parameters.end())
   {
     // TODO(anyone): change this to parse_bool() (see ros2_control#339)
-    use_fake_sensor_command_interfaces_ = it->second == "true" || it->second == "True";
+    use_mock_sensor_command_interfaces_ = it->second == "true" || it->second == "True";
   }
   else
   {
-    use_fake_sensor_command_interfaces_ = false;
+    // check if fake_sensor_commands was set instead and issue warning.
+    it = info_.hardware_parameters.find("fake_sensor_commands");
+    if (it != info_.hardware_parameters.end())
+    {
+      use_mock_sensor_command_interfaces_ = it->second == "true" || it->second == "True";
+      RCUTILS_LOG_WARN_NAMED(
+        "fake_generic_system",
+        "Parameter 'fake_sensor_commands' has been deprecated from usage. Use"
+        "'mock_sensor_commands' instead.");
+    }
+    else
+    {
+      use_mock_sensor_command_interfaces_ = false;
+    }
   }
 
   // check if to create fake command interface for gpio
@@ -284,7 +297,7 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
   }
 
   // Fake sensor command interfaces
-  if (use_fake_sensor_command_interfaces_)
+  if (use_mock_sensor_command_interfaces_)
   {
     if (!populate_interfaces(
           info_.sensors, sensor_interfaces_, sensor_fake_commands_, command_interfaces, true))
@@ -375,7 +388,7 @@ return_type GenericSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Dur
     }
   }
 
-  if (use_fake_sensor_command_interfaces_)
+  if (use_mock_sensor_command_interfaces_)
   {
     mirror_command_to_state(sensor_states_, sensor_fake_commands_);
   }
diff --git a/hardware_interface/test/mock_components/test_generic_system.cpp b/hardware_interface/test/mock_components/test_generic_system.cpp
index fe0a062fc1..3dd2693189 100644
--- a/hardware_interface/test/mock_components/test_generic_system.cpp
+++ b/hardware_interface/test/mock_components/test_generic_system.cpp
@@ -39,7 +39,7 @@ const auto PERIOD = rclcpp::Duration::from_seconds(0.01);
 class TestGenericSystem : public ::testing::Test
 {
 public:
-  void test_generic_system_with_fake_sensor_commands(std::string & urdf);
+  void test_generic_system_with_mock_sensor_commands(std::string & urdf);
   void test_generic_system_with_mimic_joint(std::string & urdf);
 
 protected:
@@ -190,7 +190,7 @@ class TestGenericSystem : public ::testing::Test
   <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
-      <param name="fake_sensor_commands">true</param>
+      <param name="mock_sensor_commands">true</param>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
@@ -912,7 +912,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor)
   ASSERT_EQ(0.33, j2p_c.get_value());
 }
 
-void TestGenericSystem::test_generic_system_with_fake_sensor_commands(std::string & urdf)
+void TestGenericSystem::test_generic_system_with_mock_sensor_commands(std::string & urdf)
 {
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
@@ -1039,7 +1039,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_fake_command)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_fake_command_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_fake_sensor_commands(urdf);
+  test_generic_system_with_mock_sensor_commands(urdf);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_sensor_fake_command_True)
@@ -1048,7 +1048,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_fake_command_True)
               hardware_system_2dof_with_sensor_fake_command_True_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_fake_sensor_commands(urdf);
+  test_generic_system_with_mock_sensor_commands(urdf);
 }
 
 void TestGenericSystem::test_generic_system_with_mimic_joint(std::string & urdf)