diff --git a/components/console/commands.c b/components/console/commands.c
index 800b57fac6..a91e4fc337 100644
--- a/components/console/commands.c
+++ b/components/console/commands.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2016-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2016-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -135,8 +135,15 @@ esp_err_t esp_console_cmd_register(const esp_console_cmd_t *cmd)
         item->hint = buf;
     }
     item->argtable = cmd->argtable;
-    item->func = cmd->func;
-    item->func_w_context = cmd->func_w_context;
+
+    if (cmd->func) {
+        item->func = cmd->func;
+    } else {
+        // cmd->func_w_context is valid here according to check above
+        item->func_w_context = cmd->func_w_context;
+        item->context = cmd->context;
+    }
+
     cmd_item_t *last = NULL;
     cmd_item_t *it;
     SLIST_FOREACH(it, &s_cmd_list, next) {
@@ -153,22 +160,6 @@ esp_err_t esp_console_cmd_register(const esp_console_cmd_t *cmd)
     return ESP_OK;
 }
 
-esp_err_t esp_console_cmd_set_context(const char *cmd, void *context)
-{
-    if (cmd == NULL ) {
-        return ESP_ERR_INVALID_ARG;
-    }
-
-    cmd_item_t *it;
-    SLIST_FOREACH(it, &s_cmd_list, next) {
-        if (strcmp(cmd, it->command) == 0) {
-            it->context = context;
-            return ESP_OK;
-        }
-    }
-    return ESP_ERR_NOT_FOUND;
-}
-
 void esp_console_get_completion(const char *buf, linenoiseCompletions *lc)
 {
     size_t len = strlen(buf);
diff --git a/components/console/esp_console.h b/components/console/esp_console.h
index dff737ba00..236d6949dc 100644
--- a/components/console/esp_console.h
+++ b/components/console/esp_console.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2016-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2016-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -206,15 +206,19 @@ typedef struct {
      * @note: Setting both \c func and \c func_w_context is not allowed.
      */
     esp_console_cmd_func_with_context_t func_w_context;
+    /**
+     * Context pointer to user-defined per-command context data.
+     * This is used if context aware function \c func_w_context is set.
+     */
+    void *context;
 } esp_console_cmd_t;
 
 /**
  * @brief Register console command
  * @param cmd pointer to the command description; can point to a temporary value
  *
- * @note If the member func_w_context of cmd is set instead of func, then there
- *       MUST be a subsequent call to \c esp_console_cmd_set_context to initialize the
- *       function context before it is used!
+ * @note If the member \c func_w_context of cmd is set instead of func, then the member \c context
+ *       is passed to the function pointed to by \c func_w_context.
  *
  * @return
  *      - ESP_OK on success
@@ -225,20 +229,6 @@ typedef struct {
  */
 esp_err_t esp_console_cmd_register(const esp_console_cmd_t *cmd);
 
-/**
- * @brief Register context for a command registered with \c func_w_context before
- *
- *        \c context is only used if \c func_w_context has been set in the structure
- *        passed to esp_console_cmd_register()
- * @param cmd pointer to the command name
- * @param context pointer to user-defined per-command context data
- * @return
- *      - ESP_OK on success
- *      - ESP_ERR_NOT_FOUND if command was not found
- *      - ESP_ERR_INVALID_ARG if invalid arguments
- */
-esp_err_t esp_console_cmd_set_context(const char *cmd, void *context);
-
 /**
  * @brief Run command line
  * @param cmdline command line (command name followed by a number of arguments)
diff --git a/components/console/test_apps/console/main/test_console.c b/components/console/test_apps/console/main/test_console.c
index ef63ca683f..78cda6c453 100644
--- a/components/console/test_apps/console/main/test_console.c
+++ b/components/console/test_apps/console/main/test_console.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -94,6 +94,24 @@ TEST_CASE("esp console init/deinit test", "[console]")
     TEST_ESP_OK(esp_console_deinit());
 }
 
+TEST_CASE("esp console init/deinit with context test", "[console]")
+{
+    int dummy = 47;
+    esp_console_config_t console_config = ESP_CONSOLE_CONFIG_DEFAULT();
+    TEST_ESP_OK(esp_console_init(&console_config));
+    const esp_console_cmd_t cmd = {
+        .command = "hello",
+        .help = "Print Hello World",
+        .hint = NULL,
+        .func_w_context = do_not_call,
+        .context = &dummy,
+    };
+    TEST_ESP_OK(esp_console_cmd_register(&cmd));
+    // re-register the same command, just for test
+    TEST_ESP_OK(esp_console_cmd_register(&cmd));
+    TEST_ESP_OK(esp_console_deinit());
+}
+
 static esp_console_repl_t *s_repl = NULL;
 
 /* handle 'quit' command */
@@ -196,22 +214,6 @@ TEST_CASE("esp console init/deinit test, minimal config", "[console]")
     TEST_ESP_OK(esp_console_deinit());
 }
 
-TEST_CASE("esp console test set_context", "[console]")
-{
-    /* Test with minimal init config */
-    esp_console_config_t console_config = {
-        .max_cmdline_args = 2,
-        .max_cmdline_length = 100,
-    };
-
-    TEST_ESP_OK(esp_console_init(&console_config));
-
-    TEST_ASSERT_EQUAL(esp_console_cmd_set_context(NULL, NULL), ESP_ERR_INVALID_ARG);
-    TEST_ASSERT_EQUAL(esp_console_cmd_set_context("invalid", NULL), ESP_ERR_NOT_FOUND);
-
-    TEST_ESP_OK(esp_console_deinit());
-}
-
 TEST_CASE("esp console test with context", "[console]")
 {
     /* Test with minimal init config */
@@ -222,44 +224,43 @@ TEST_CASE("esp console test with context", "[console]")
 
     TEST_ESP_OK(esp_console_init(&console_config));
 
-    const esp_console_cmd_t cmds[] = {
-        {
-            .command = "hello-c1",
-            .help = "Print Hello World in context c1",
-            .hint = NULL,
-            .func_w_context = do_hello_cmd_with_context,
-        },
-        {
-            .command = "hello-c2",
-            .help = "Print Hello World in context c2",
-            .hint = NULL,
-            .func_w_context = do_hello_cmd_with_context,
-        },
-    };
-    cmd_context_t contexts[] = {
-        {
-            .in = "c1",
-            .out = NULL,
-        },
-        {
-            .in = "c2",
-            .out = NULL,
-        },
+    cmd_context_t context0 = {
+        .in = "c1",
+        .out = NULL,
     };
 
-    static_assert((sizeof(contexts) / sizeof(contexts[0])) == (sizeof(cmds) / sizeof(cmds[0])));
+    cmd_context_t context1 = {
+       .in = "c2",
+       .out = NULL,
+    };
 
-    for (int i=0; i < sizeof(cmds) / sizeof(cmds[0]); i++) {
-        TEST_ESP_OK(esp_console_cmd_register(&cmds[i]));
-        TEST_ESP_OK(esp_console_cmd_set_context(cmds[i].command, &contexts[i]));
-    }
+    const esp_console_cmd_t cmd0 = {
+        .command = "hello-c1",
+        .help = "Print Hello World in context c1",
+        .hint = NULL,
+        .func_w_context = do_hello_cmd_with_context,
+        .context = &context0,
+    };
 
-    for (int i=0; i < sizeof(cmds) / sizeof(cmds[0]); i++) {
-        int ret;
-        TEST_ESP_OK(esp_console_run(cmds[i].command, &ret));
-        TEST_ASSERT_EQUAL(ret, 0);
-        TEST_ASSERT_EQUAL(contexts[i].in, contexts[i].out);
-    }
+    const esp_console_cmd_t cmd1 = {
+       .command = "hello-c2",
+       .help = "Print Hello World in context c2",
+       .hint = NULL,
+       .func_w_context = do_hello_cmd_with_context,
+       .context = &context1,
+    };
+
+    TEST_ESP_OK(esp_console_cmd_register(&cmd0));
+    TEST_ESP_OK(esp_console_cmd_register(&cmd1));
+
+    int ret;
+    TEST_ESP_OK(esp_console_run(cmd0.command, &ret));
+    TEST_ASSERT_EQUAL(ret, 0);
+    TEST_ASSERT_EQUAL(context0.in, context0.out);
+
+    TEST_ESP_OK(esp_console_run(cmd1.command, &ret));
+    TEST_ASSERT_EQUAL(ret, 0);
+    TEST_ASSERT_EQUAL(context1.in, context1.out);
 
     TEST_ESP_OK(esp_console_deinit());
 }