diff --git a/CMakeLists.txt b/CMakeLists.txt
index 991e32e713..069d474831 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(ignition-cmake3 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(
+gz_configure_project(
   REPLACE_IGNITION_INCLUDE_PATH gz/sim
   VERSION_SUFFIX pre1)
 set (CMAKE_CXX_STANDARD 17)
@@ -61,28 +61,28 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat13 REQUIRED)
+gz_find_package(sdformat13 REQUIRED)
 set(SDF_VER ${sdformat13_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-plugin
-ign_find_package(ignition-plugin2 REQUIRED COMPONENTS loader register)
+gz_find_package(ignition-plugin2 REQUIRED COMPONENTS loader register)
 set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-transport
-ign_find_package(ignition-transport12 REQUIRED COMPONENTS log)
+gz_find_package(ignition-transport12 REQUIRED COMPONENTS log)
 set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs9 REQUIRED)
+gz_find_package(ignition-msgs9 REQUIRED)
 set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common5
+gz_find_package(ignition-common5
   COMPONENTS
     profiler
     events
@@ -93,14 +93,14 @@ set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-fuel_tools
-ign_find_package(ignition-fuel_tools8 REQUIRED)
+gz_find_package(ignition-fuel_tools8 REQUIRED)
 set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools8_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui7 REQUIRED)
+gz_find_package(ignition-gui7 REQUIRED)
 set(IGN_GUI_VER ${ignition-gui7_VERSION_MAJOR})
-ign_find_package (Qt5
+gz_find_package (Qt5
   COMPONENTS
     Core
     Quick
@@ -110,7 +110,7 @@ ign_find_package (Qt5
 
 #--------------------------------------
 # Find ignition-physics
-ign_find_package(ignition-physics6
+gz_find_package(ignition-physics6
   COMPONENTS
     heightmap
     mesh
@@ -121,7 +121,7 @@ set(IGN_PHYSICS_VER ${ignition-physics6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-sensors
-ign_find_package(ignition-sensors7 REQUIRED
+gz_find_package(ignition-sensors7 REQUIRED
   # component order is important
   COMPONENTS
     # non-rendering
@@ -150,29 +150,29 @@ set(IGN_SENSORS_VER ${ignition-sensors7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-rendering
-ign_find_package(ignition-rendering7 REQUIRED)
+gz_find_package(ignition-rendering7 REQUIRED)
 set(IGN_RENDERING_VER ${ignition-rendering7_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-tools
-ign_find_package(ignition-tools2
+gz_find_package(ignition-tools2
                  REQUIRED
                  PKGCONFIG "ignition-tools2")
 
 #--------------------------------------
 # 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 protobuf
 set(REQ_PROTOBUF_VER 3)
-ign_find_package(IgnProtobuf
+gz_find_package(IgnProtobuf
                  VERSION ${REQ_PROTOBUF_VER}
                  REQUIRED
                  COMPONENTS all
@@ -211,14 +211,14 @@ set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR
 #============================================================================
 # Configure the build
 #============================================================================
-ign_configure_build(QUIT_IF_BUILD_ERRORS)
+gz_configure_build(QUIT_IF_BUILD_ERRORS)
 
 add_subdirectory(examples)
 
 #============================================================================
 # Create package information
 #============================================================================
-ign_create_packages()
+gz_create_packages()
 
 if (${pybind11_FOUND})
 	add_subdirectory(python)
@@ -235,7 +235,7 @@ configure_file(${CMAKE_SOURCE_DIR}/tools/desktop/gz-logo.svg.in ${CMAKE_BINARY_D
 # there is an unreleased fix; revert this when 1.9.1 is released
 # https://github.com/gazebosim/gz-sim/issues/520
 if (NOT APPLE)
-  ign_create_docs(
+  gz_create_docs(
     API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
     TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
     ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
index 053a1059fc..a74ed65c77 100644
--- a/examples/plugin/custom_sensor_system/CMakeLists.txt
+++ b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -4,10 +4,10 @@ find_package(ignition-cmake3 REQUIRED)
 
 project(OdometerSystem)
 
-ign_find_package(ignition-plugin2 REQUIRED COMPONENTS register)
+gz_find_package(ignition-plugin2 REQUIRED COMPONENTS register)
 set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
 
-ign_find_package(ignition-gazebo7 REQUIRED)
+gz_find_package(ignition-gazebo7 REQUIRED)
 set(IGN_GAZEBO_VER ${ignition-gazebo7_VERSION_MAJOR})
 
 find_package(ignition-sensors7 REQUIRED)
diff --git a/examples/plugin/hello_world/CMakeLists.txt b/examples/plugin/hello_world/CMakeLists.txt
index 8d66152ec0..3981aaeb8a 100644
--- a/examples/plugin/hello_world/CMakeLists.txt
+++ b/examples/plugin/hello_world/CMakeLists.txt
@@ -4,10 +4,10 @@ find_package(ignition-cmake3 REQUIRED)
 
 project(Hello_world)
 
-ign_find_package(ignition-plugin2 REQUIRED COMPONENTS register)
+gz_find_package(ignition-plugin2 REQUIRED COMPONENTS register)
 set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
 
-ign_find_package(ignition-gazebo7 REQUIRED)
+gz_find_package(ignition-gazebo7 REQUIRED)
 set(IGN_GAZEBO_VER ${ignition-gazebo7_VERSION_MAJOR})
 
 add_library(HelloWorld SHARED HelloWorld)
diff --git a/include/gz/sim/CMakeLists.txt b/include/gz/sim/CMakeLists.txt
index 65544b91eb..8f8afcf291 100644
--- a/include/gz/sim/CMakeLists.txt
+++ b/include/gz/sim/CMakeLists.txt
@@ -1,4 +1,4 @@
-ign_install_all_headers()
+gz_install_all_headers()
 
 add_subdirectory(components)
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 449d37a63a..1233a3c4d5 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -37,7 +37,7 @@ set(gui_sources
   PARENT_SCOPE
 )
 
-ign_add_component(gz
+gz_add_component(gz
   SOURCES
     ign.cc
     cmd/ModelCommandAPI.cc
@@ -137,7 +137,7 @@ if (MSVC)
 endif()
 
 # Create the library target
-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
   ignition-math${IGN_MATH_VER}
@@ -173,7 +173,7 @@ set(GZ_SIM_PLUGIN_INSTALL_DIR
 include_directories(${PROJECT_SOURCE_DIR}/test)
 
 # Build the unit tests
-ign_build_tests(TYPE UNIT
+gz_build_tests(TYPE UNIT
   SOURCES
     ${gtest_sources}
   LIB_DEPS
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index a93109596c..f586cd6b81 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -21,7 +21,7 @@ file(GENERATE
 # Install the ruby command line library in an unversioned location.
 install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition)
 
-set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+set(gz_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
 
 # Generate a configuration file.
 # Note that the major version of the library is included in the name.
@@ -54,7 +54,7 @@ file(GENERATE
 install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition)
 
 # Used for the installed version.
-set(ign_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdmodel${PROJECT_VERSION_MAJOR}")
+set(gz_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdmodel${PROJECT_VERSION_MAJOR}")
 
 set(model_configured "${CMAKE_CURRENT_BINARY_DIR}/model${PROJECT_VERSION_MAJOR}.yaml")
 configure_file(
@@ -85,7 +85,7 @@ file(GENERATE
   INPUT  "${cmd_script_configured_test}")
 
 # Used only for internal testing.
-set(ign_library_path
+set(gz_library_path
   "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
 
 # Generate a configuration file for internal testing.
@@ -112,7 +112,7 @@ file(GENERATE
   INPUT  "${cmd_model_script_configured_test}")
 
 # Used for internal testing.
-set(ign_model_ruby_path "${cmd_model_script_generated_test}")
+set(gz_model_ruby_path "${cmd_model_script_generated_test}")
 
 configure_file(
   "model.yaml.in"
diff --git a/src/cmd/gazebo.yaml.in b/src/cmd/gazebo.yaml.in
index 1d37982595..8d575ada55 100644
--- a/src/cmd/gazebo.yaml.in
+++ b/src/cmd/gazebo.yaml.in
@@ -2,7 +2,7 @@
 format: 1.0.0
 library_name: ignition-gazebo-ign
 library_version: @PROJECT_VERSION_FULL@
-library_path: @ign_library_path@
+library_path: @gz_library_path@
 commands:
     - gazebo : Run and manage Gazebo.
 ---
diff --git a/src/cmd/model.yaml.in b/src/cmd/model.yaml.in
index d1c57a0b64..38d842528e 100644
--- a/src/cmd/model.yaml.in
+++ b/src/cmd/model.yaml.in
@@ -2,7 +2,7 @@
 format: 1.0.0
 library_name: ignition-gazebo-ign
 library_version: @PROJECT_VERSION_FULL@
-library_path: @ign_model_ruby_path@
+library_path: @gz_model_ruby_path@
 commands:
     - model   : Print information about models.
 ---
diff --git a/src/gui/CMakeLists.txt b/src/gui/CMakeLists.txt
index df7f7364f1..64a1c0b34e 100644
--- a/src/gui/CMakeLists.txt
+++ b/src/gui/CMakeLists.txt
@@ -39,7 +39,7 @@ if (MSVC)
       COMPILE_FLAGS "/wd4251 /wd4146")
 endif()
 
-ign_add_component(gui
+gz_add_component(gui
   SOURCES ${gui_sources} resources/gazebo.qrc
   GET_TARGET_NAME gui_target
   CXX_STANDARD 17)
@@ -65,7 +65,7 @@ install (FILES playback_gui.config DESTINATION ${IGN_DATA_INSTALL_DIR}/gui)
 # Tests
 include_directories(${PROJECT_SOURCE_DIR}/test)
 
-ign_build_tests(TYPE UNIT
+gz_build_tests(TYPE UNIT
   SOURCES
     ${gtest_sources}
   LIB_DEPS
diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt
index 18537b0414..f2f77b705f 100644
--- a/src/gui/plugins/CMakeLists.txt
+++ b/src/gui/plugins/CMakeLists.txt
@@ -96,7 +96,7 @@ function(gz_add_gui_plugin plugin_name)
     # Plugin symbols failing to resolve on Windows:
     # error LNK2001: unresolved external symbol
     if(NOT WIN32)
-      ign_build_tests(TYPE UNIT
+      gz_build_tests(TYPE UNIT
         SOURCES
           ${gz_add_gui_plugin_TEST_SOURCES}
         LIB_DEPS
diff --git a/src/rendering/CMakeLists.txt b/src/rendering/CMakeLists.txt
index 801cd72735..1a03ea395f 100644
--- a/src/rendering/CMakeLists.txt
+++ b/src/rendering/CMakeLists.txt
@@ -14,7 +14,7 @@ if (MSVC)
       COMPILE_FLAGS "/wd4251 /wd4146")
 endif()
 
-ign_add_component(rendering
+gz_add_component(rendering
   SOURCES ${rendering_comp_sources}
   GET_TARGET_NAME rendering_target
   CXX_STANDARD 17)
diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt
index 3fc7508371..1dfed75f39 100644
--- a/src/systems/CMakeLists.txt
+++ b/src/systems/CMakeLists.txt
@@ -44,7 +44,7 @@ function(gz_add_system system_name)
   endif()
 
 
-  ign_add_component(${system_name}
+  gz_add_component(${system_name}
     SOURCES ${sources}
     GET_TARGET_NAME system_target
     CXX_STANDARD 17)
@@ -75,7 +75,7 @@ function(gz_add_system system_name)
   # Note that plugins are currently being installed in 2 places. /lib and the plugin dir
   install(TARGETS ${system_target} DESTINATION ${GZ_SIM_PLUGIN_INSTALL_DIR})
 
-  # The library created by `ign_add_component` includes the ign-gazebo version
+  # The library created by `gz_add_component` includes the ign-gazebo version
   # (i.e. libignition-gazebo1-name-system.so), but for portability of SDF
   # files, we also install an unversioned symlink into the same versioned folder.
   set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${system_target}${CMAKE_SHARED_LIBRARY_SUFFIX})
diff --git a/src/systems/logical_audio_sensor_plugin/CMakeLists.txt b/src/systems/logical_audio_sensor_plugin/CMakeLists.txt
index 2579a278eb..f938415d10 100644
--- a/src/systems/logical_audio_sensor_plugin/CMakeLists.txt
+++ b/src/systems/logical_audio_sensor_plugin/CMakeLists.txt
@@ -13,7 +13,7 @@ set (gtest_sources
   LogicalAudio_TEST.cc
 )
 
-ign_build_tests(TYPE UNIT
+gz_build_tests(TYPE UNIT
   SOURCES
     ${gtest_sources}
   LIB_DEPS
diff --git a/src/systems/physics/CMakeLists.txt b/src/systems/physics/CMakeLists.txt
index 8e4cfb072e..d84a73d9c5 100644
--- a/src/systems/physics/CMakeLists.txt
+++ b/src/systems/physics/CMakeLists.txt
@@ -11,7 +11,7 @@ set (gtest_sources
   EntityFeatureMap_TEST.cc
 )
 
-ign_build_tests(TYPE UNIT
+gz_build_tests(TYPE UNIT
   SOURCES
   ${gtest_sources}
   LIB_DEPS
diff --git a/test/benchmark/CMakeLists.txt b/test/benchmark/CMakeLists.txt
index d93d0689b7..0e59202a8e 100644
--- a/test/benchmark/CMakeLists.txt
+++ b/test/benchmark/CMakeLists.txt
@@ -10,5 +10,5 @@ if (GzBenchmark_FOUND OR IgnBenchmark_FOUND)
     ecm_serialize.cc
   )
 
-  ign_add_benchmarks(SOURCES ${tests})
+  gz_add_benchmarks(SOURCES ${tests})
 endif()
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index 46e78c4d7a..2013908913 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -119,7 +119,7 @@ endif()
 link_directories(${PROJECT_BINARY_DIR}/test)
 include_directories(${PROJECT_SOURCE_DIR}/test)
 
-ign_build_tests(TYPE INTEGRATION
+gz_build_tests(TYPE INTEGRATION
   SOURCES
     ${tests}
   LIB_DEPS
@@ -134,7 +134,7 @@ cmake_policy(PUSH)
 if (POLICY CMP0074)
   cmake_policy(SET CMP0074 NEW)
 endif()
-ign_find_package(DART CONFIG)
+gz_find_package(DART CONFIG)
 cmake_policy(POP)
 if (DART_FOUND)
   # Only adding include directories, no need to link against DART to check version
diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt
index 74219c4224..66d432d9e7 100644
--- a/test/performance/CMakeLists.txt
+++ b/test/performance/CMakeLists.txt
@@ -7,7 +7,7 @@ set(tests
 
 link_directories(${PROJECT_BINARY_DIR}/test)
 
-ign_build_tests(TYPE PERFORMANCE
+gz_build_tests(TYPE PERFORMANCE
   SOURCES
     ${tests}
   LIB_DEPS
diff --git a/test/regression/CMakeLists.txt b/test/regression/CMakeLists.txt
index 9371b25e72..922f0b883e 100644
--- a/test/regression/CMakeLists.txt
+++ b/test/regression/CMakeLists.txt
@@ -5,7 +5,7 @@ set(tests
 
 link_directories(${PROJECT_BINARY_DIR}/test)
 
-ign_build_tests(TYPE REGRESSION
+gz_build_tests(TYPE REGRESSION
   SOURCES
     ${tests}
   LIB_DEPS