diff --git a/CMakeLists.txt b/CMakeLists.txt
index f85e5aa36..8fc68a546 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(ignition-cmake3 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(
+gz_configure_project(
   REPLACE_IGNITION_INCLUDE_PATH gz/physics
   VERSION_SUFFIX pre1)
 
@@ -36,38 +36,38 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 
 #--------------------------------------
 # Find ignition-common
-ign_find_package(ignition-common5
+gz_find_package(ignition-common5
   COMPONENTS geospatial graphics profiler
   REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet)
 set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-math
-ign_find_package(ignition-math7 REQUIRED COMPONENTS eigen3)
+gz_find_package(ignition-math7 REQUIRED COMPONENTS eigen3)
 set(IGN_MATH_VER ${ignition-math7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-plugin
-ign_find_package(ignition-plugin2 REQUIRED COMPONENTS all)
+gz_find_package(ignition-plugin2 REQUIRED COMPONENTS all)
 set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-utils
-ign_find_package(ignition-utils2 REQUIRED COMPONENTS cli)
+gz_find_package(ignition-utils2 REQUIRED COMPONENTS cli)
 set(IGN_UTILS_VER ${ignition-utils2_VERSION_MAJOR})
 
 #--------------------------------------
 # Find Eigen
-ign_find_package(EIGEN3 REQUIRED)
+gz_find_package(EIGEN3 REQUIRED)
 
 #--------------------------------------
 # Find SDFormat for the SDF features
-ign_find_package(sdformat13
+gz_find_package(sdformat13
   REQUIRED_BY sdf dartsim tpe bullet)
 
 #--------------------------------------
 # Find dartsim for the dartsim plugin wrapper
-ign_find_package(DART
+gz_find_package(DART
   COMPONENTS
     collision-bullet
     collision-ode
@@ -81,7 +81,7 @@ ign_find_package(DART
 
 #--------------------------------------
 # Find bullet for the bullet plugin wrapper
-ign_find_package(IgnBullet
+gz_find_package(IgnBullet
   VERSION 2.87
   REQUIRED_BY bullet
   PKGCONFIG bullet
@@ -99,14 +99,14 @@ set(GZ_PHYSICS_ENGINE_INSTALL_DIR
 #============================================================================
 # Configure the build
 #============================================================================
-ign_configure_build(QUIT_IF_BUILD_ERRORS
+gz_configure_build(QUIT_IF_BUILD_ERRORS
   COMPONENTS sdf heightmap mesh dartsim tpe bullet)
 
 
 #============================================================================
 # Create package information
 #============================================================================
-ign_create_packages()
+gz_create_packages()
 
 
 #============================================================================
@@ -115,7 +115,7 @@ ign_create_packages()
 configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
 configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
 
-ign_create_docs(
+gz_create_docs(
   API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
   TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
   TAGFILES
diff --git a/bullet/CMakeLists.txt b/bullet/CMakeLists.txt
index 68ad12155..9c6a34513 100644
--- a/bullet/CMakeLists.txt
+++ b/bullet/CMakeLists.txt
@@ -1,17 +1,17 @@
 # This component expresses custom features of the bullet plugin, which can
 # expose native bullet data types.
-ign_add_component(bullet INTERFACE
+gz_add_component(bullet INTERFACE
   DEPENDS_ON_COMPONENTS sdf mesh
   GET_TARGET_NAME features)
 
 link_directories(${BULLET_LIBRARY_DIRS})
 target_link_libraries(${features} INTERFACE IgnBullet::IgnBullet)
 
-ign_get_libsources_and_unittests(sources test_sources)
+gz_get_libsources_and_unittests(sources test_sources)
 
-# TODO(MXG): Think about an ign_add_plugin(~) macro for ign-cmake
+# TODO(MXG): Think about an gz_add_plugin(~) macro for ign-cmake
 set(engine_name bullet-plugin)
-ign_add_component(${engine_name}
+gz_add_component(${engine_name}
   SOURCES ${sources}
   DEPENDS_ON_COMPONENTS bullet
   GET_TARGET_NAME bullet_plugin)
@@ -32,7 +32,7 @@ install(
   DIRECTORY include/
   DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
 
-# The library created by `ign_add_component` includes the ign-physics version
+# The library created by `gz_add_component` includes the ign-physics version
 # (i.e. libignition-physics1-name-plugin.so), but for portability,
 # we also install an unversioned symlink into the same versioned folder.
 set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
@@ -51,7 +51,7 @@ EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unvers
 INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 
 # Testing
-ign_build_tests(
+gz_build_tests(
   TYPE UNIT_bullet
   SOURCES ${test_sources}
   LIB_DEPS
diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
index 7c3ce5738..185a719b5 100644
--- a/dartsim/CMakeLists.txt
+++ b/dartsim/CMakeLists.txt
@@ -1,6 +1,6 @@
 # This component expresses custom features of the dartsim plugin, which can
 # expose native dartsim data types.
-ign_add_component(dartsim INTERFACE
+gz_add_component(dartsim INTERFACE
   DEPENDS_ON_COMPONENTS sdf heightmap mesh
   GET_TARGET_NAME features)
 
@@ -15,11 +15,11 @@ install(
   DIRECTORY include/
   DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
 
-ign_get_libsources_and_unittests(sources test_sources)
+gz_get_libsources_and_unittests(sources test_sources)
 
-# TODO(MXG): Think about an ign_add_plugin(~) macro for ign-cmake
+# TODO(MXG): Think about an gz_add_plugin(~) macro for ign-cmake
 set(engine_name dartsim-plugin)
-ign_add_component(${engine_name}
+gz_add_component(${engine_name}
   SOURCES ${sources}
   DEPENDS_ON_COMPONENTS dartsim
   GET_TARGET_NAME dartsim_plugin)
@@ -38,9 +38,9 @@ target_link_libraries(${dartsim_plugin}
     ignition-common${IGN_COMMON_VER}::profiler
 )
 
-# The ignition fork of DART contains additional code that allows customizing 
-# contact constraints. We check for the presence of "ContactSurface.hpp", which 
-# was added to enable these customizations, to detect if the feature is 
+# The ignition fork of DART contains additional code that allows customizing
+# contact constraints. We check for the presence of "ContactSurface.hpp", which
+# was added to enable these customizations, to detect if the feature is
 # available.
 include(CheckIncludeFileCXX)
 if (MSVC)
@@ -61,7 +61,7 @@ endif()
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${dartsim_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 
-# The library created by `ign_add_component` includes the ign-physics version
+# The library created by `gz_add_component` includes the ign-physics version
 # (i.e. libignition-physics1-name-plugin.so), but for portability,
 # we also install an unversioned symlink into the same versioned folder.
 set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${dartsim_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
@@ -78,7 +78,7 @@ else()
 endif()
 
 # Testing
-ign_build_tests(
+gz_build_tests(
   TYPE UNIT
   SOURCES ${test_sources}
   LIB_DEPS
diff --git a/heightmap/CMakeLists.txt b/heightmap/CMakeLists.txt
index 0d31f22ae..65913ff43 100644
--- a/heightmap/CMakeLists.txt
+++ b/heightmap/CMakeLists.txt
@@ -1,4 +1,4 @@
-ign_add_component(heightmap INTERFACE
+gz_add_component(heightmap INTERFACE
   GET_TARGET_NAME heightmap)
 
 target_link_libraries(${heightmap}
diff --git a/include/gz/physics/CMakeLists.txt b/include/gz/physics/CMakeLists.txt
index c786bcee2..bf4411e89 100644
--- a/include/gz/physics/CMakeLists.txt
+++ b/include/gz/physics/CMakeLists.txt
@@ -1,2 +1 @@
-
-ign_install_all_headers()
+gz_install_all_headers()
diff --git a/mesh/CMakeLists.txt b/mesh/CMakeLists.txt
index 98c01d2b1..4fe750e9f 100644
--- a/mesh/CMakeLists.txt
+++ b/mesh/CMakeLists.txt
@@ -1,5 +1,4 @@
-
-ign_add_component(mesh INTERFACE
+gz_add_component(mesh INTERFACE
   GET_TARGET_NAME mesh)
 
 target_link_libraries(${mesh}
diff --git a/sdf/CMakeLists.txt b/sdf/CMakeLists.txt
index 449bcb6cb..b2d661306 100644
--- a/sdf/CMakeLists.txt
+++ b/sdf/CMakeLists.txt
@@ -1,5 +1,4 @@
-
-ign_add_component(sdf INTERFACE
+gz_add_component(sdf INTERFACE
   GET_TARGET_NAME sdf)
 
 target_link_libraries(${sdf} INTERFACE ${SDFormat_LIBRARIES})
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a22dd97ff..3eb30401d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,6 +1,6 @@
-ign_get_libsources_and_unittests(sources gtest_sources)
+gz_get_libsources_and_unittests(sources gtest_sources)
 
-ign_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
+gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
 
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
@@ -9,7 +9,7 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
     ignition-plugin${IGN_PLUGIN_VER}::register
     Eigen3::Eigen)
 
-ign_build_tests(
+gz_build_tests(
   TYPE UNIT
   SOURCES ${gtest_sources})
 
diff --git a/test/benchmark/CMakeLists.txt b/test/benchmark/CMakeLists.txt
index 0fda6ea7d..909835d4d 100644
--- a/test/benchmark/CMakeLists.txt
+++ b/test/benchmark/CMakeLists.txt
@@ -4,4 +4,4 @@ set(tests
   ExpectData.cc
 )
 
-ign_add_benchmarks(SOURCES ${tests})
+gz_add_benchmarks(SOURCES ${tests})
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index a734f294c..643c54bd3 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -1,5 +1,4 @@
-
-ign_get_sources(tests)
+gz_get_sources(tests)
 
 if (NOT DART_FOUND)
   list(REMOVE_ITEM tests DoublePendulum.cc)
@@ -7,7 +6,7 @@ endif()
 
 configure_file (test_config.h.in ${PROJECT_BINARY_DIR}/test_config.h)
 
-ign_build_tests(
+gz_build_tests(
   TYPE INTEGRATION
   SOURCES ${tests}
   LIB_DEPS
diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt
index 296633de9..f12609012 100644
--- a/test/performance/CMakeLists.txt
+++ b/test/performance/CMakeLists.txt
@@ -1,5 +1,4 @@
-
-ign_get_sources(tests)
+gz_get_sources(tests)
 
 # ExpectData test causes lcov to hang
 # see ign-cmake issue 25
@@ -8,6 +7,6 @@ if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "COVERAGE")
     ExpectData.cc)
 endif()
 
-ign_build_tests(
+gz_build_tests(
   TYPE PERFORMANCE
   SOURCES ${tests})
diff --git a/test/regression/CMakeLists.txt b/test/regression/CMakeLists.txt
index 36fe94ceb..f56c54cd5 100644
--- a/test/regression/CMakeLists.txt
+++ b/test/regression/CMakeLists.txt
@@ -1,6 +1,5 @@
+gz_get_sources(tests)
 
-ign_get_sources(tests)
-
-ign_build_tests(
+gz_build_tests(
   TYPE REGRESSION
   SOURCES ${tests})
diff --git a/test/static_assert/CMakeLists.txt b/test/static_assert/CMakeLists.txt
index 3915378ab..6f2004c76 100644
--- a/test/static_assert/CMakeLists.txt
+++ b/test/static_assert/CMakeLists.txt
@@ -1,5 +1,4 @@
-
-ign_get_sources(assert_tests)
+gz_get_sources(assert_tests)
 
 if(UNIX)
 
diff --git a/tpe/lib/CMakeLists.txt b/tpe/lib/CMakeLists.txt
index fe85d324a..d08c55cd7 100644
--- a/tpe/lib/CMakeLists.txt
+++ b/tpe/lib/CMakeLists.txt
@@ -1,11 +1,11 @@
-ign_get_libsources_and_unittests(sources test_sources)
+gz_get_libsources_and_unittests(sources test_sources)
 
 set (aabb_tree_SRC
     ${CMAKE_CURRENT_SOURCE_DIR}/src/aabb_tree/AABB.h
     ${CMAKE_CURRENT_SOURCE_DIR}/src/aabb_tree/AABB.cc)
 set(sources ${sources} ${aabb_tree_SRC})
 
-ign_add_component(tpelib
+gz_add_component(tpelib
   SOURCES ${sources}
   GET_TARGET_NAME tpelib_target
   CXX_STANDARD 17)
@@ -17,7 +17,7 @@ target_link_libraries(${tpelib_target}
     ignition-math${IGN_MATH_VER}::eigen3
 )
 
- ign_build_tests(
+gz_build_tests(
   TYPE UNIT_tpelib
   SOURCES ${test_sources}
   LIB_DEPS
diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt
index 6ff86cb93..918a26873 100644
--- a/tpe/plugin/CMakeLists.txt
+++ b/tpe/plugin/CMakeLists.txt
@@ -1,17 +1,17 @@
 # This component expresses custom features of the tpe plugin, which can
 # expose native tpe data types.
-ign_add_component(tpe INTERFACE
+gz_add_component(tpe INTERFACE
   DEPENDS_ON_COMPONENTS sdf mesh
   GET_TARGET_NAME features)
 
 target_link_libraries(${features} INTERFACE ${PROJECT_LIBRARY_TARGET_NAME}-tpelib)
 target_include_directories(${features} SYSTEM INTERFACE)
 
-ign_get_libsources_and_unittests(sources test_sources)
+gz_get_libsources_and_unittests(sources test_sources)
 
-# TODO(MXG): Think about an ign_add_plugin(~) macro for ign-cmake
+# TODO(MXG): Think about an gz_add_plugin(~) macro for ign-cmake
 set(engine_name tpe-plugin)
-ign_add_component(${engine_name}
+gz_add_component(${engine_name}
   SOURCES ${sources}
   DEPENDS_ON_COMPONENTS tpe
   GET_TARGET_NAME tpe_plugin)
@@ -34,7 +34,7 @@ target_link_libraries(${tpe_plugin}
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${tpe_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 
-# The library created by `ign_add_component` includes the ign-physics version
+# The library created by `gz_add_component` includes the ign-physics version
 # (i.e. libignition-physics1-name-plugin.so), but for portability,
 # we also install an unversioned symlink into the same versioned folder.
 set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${tpe_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
@@ -50,7 +50,7 @@ else()
   INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 endif()
 
-ign_build_tests(
+gz_build_tests(
   TYPE UNIT_tpe
   SOURCES ${test_sources}
   LIB_DEPS