diff --git a/modules/canopennode/CMakeLists.txt b/modules/canopennode/CMakeLists.txt
index 380f8a9faf9..d4b023f9e3b 100644
--- a/modules/canopennode/CMakeLists.txt
+++ b/modules/canopennode/CMakeLists.txt
@@ -28,9 +28,9 @@ if(CONFIG_CANOPENNODE)
     CO_driver.c
   )
 
-  zephyr_library_sources_ifdef(CONFIG_CANOPEN_SYNC_THREAD canopen_sync.c)
-  zephyr_library_sources_ifdef(CONFIG_CANOPEN_STORAGE canopen_storage.c)
-  zephyr_library_sources_ifdef(CONFIG_CANOPEN_LEDS canopen_leds.c)
-  zephyr_library_sources_ifdef(CONFIG_CANOPEN_PROGRAM_DOWNLOAD canopen_program.c)
+  zephyr_library_sources_ifdef(CONFIG_CANOPENNODE_SYNC_THREAD canopen_sync.c)
+  zephyr_library_sources_ifdef(CONFIG_CANOPENNODE_STORAGE canopen_storage.c)
+  zephyr_library_sources_ifdef(CONFIG_CANOPENNODE_LEDS canopen_leds.c)
+  zephyr_library_sources_ifdef(CONFIG_CANOPENNODE_PROGRAM_DOWNLOAD canopen_program.c)
 
 endif()
diff --git a/modules/canopennode/CO_driver.c b/modules/canopennode/CO_driver.c
index 42602042817..ff2f8e48bec 100644
--- a/modules/canopennode/CO_driver.c
+++ b/modules/canopennode/CO_driver.c
@@ -9,14 +9,14 @@
 #include <init.h>
 #include <sys/util.h>
 
-#include <canbus/canopen.h>
+#include <canopennode.h>
 
 #define LOG_LEVEL CONFIG_CANOPEN_LOG_LEVEL
 #include <logging/log.h>
 LOG_MODULE_REGISTER(canopen_driver);
 
 K_KERNEL_STACK_DEFINE(canopen_tx_workq_stack,
-		      CONFIG_CANOPEN_TX_WORKQUEUE_STACK_SIZE);
+		      CONFIG_CANOPENNODE_TX_WORKQUEUE_STACK_SIZE);
 
 struct k_work_q canopen_tx_workq;
 
@@ -474,7 +474,7 @@ static int canopen_init(const struct device *dev)
 
 	k_work_queue_start(&canopen_tx_workq, canopen_tx_workq_stack,
 			   K_KERNEL_STACK_SIZEOF(canopen_tx_workq_stack),
-			   CONFIG_CANOPEN_TX_WORKQUEUE_PRIORITY, NULL);
+			   CONFIG_CANOPENNODE_TX_WORKQUEUE_PRIORITY, NULL);
 
 	k_work_init(&canopen_tx_queue.work, canopen_tx_retry);
 
diff --git a/modules/canopennode/CO_driver_target.h b/modules/canopennode/CO_driver_target.h
index 15d90fcfd35..65c967ee8f2 100644
--- a/modules/canopennode/CO_driver_target.h
+++ b/modules/canopennode/CO_driver_target.h
@@ -30,12 +30,12 @@ extern "C" {
 #define CO_USE_OWN_CRC16
 
 /* Use SDO buffer size from Kconfig */
-#define CO_SDO_BUFFER_SIZE CONFIG_CANOPEN_SDO_BUFFER_SIZE
+#define CO_SDO_BUFFER_SIZE CONFIG_CANOPENNODE_SDO_BUFFER_SIZE
 
 /* Use trace buffer size from Kconfig */
-#define CO_TRACE_BUFFER_SIZE_FIXED CONFIG_CANOPEN_TRACE_BUFFER_SIZE
+#define CO_TRACE_BUFFER_SIZE_FIXED CONFIG_CANOPENNODE_TRACE_BUFFER_SIZE
 
-#ifdef CONFIG_CANOPEN_LEDS
+#ifdef CONFIG_CANOPENNODE_LEDS
 #define CO_USE_LEDS 1
 #endif
 
diff --git a/modules/canopennode/Kconfig b/modules/canopennode/Kconfig
index 97143cf5d21..b8cc169291b 100644
--- a/modules/canopennode/Kconfig
+++ b/modules/canopennode/Kconfig
@@ -14,7 +14,7 @@ config CANOPENNODE
 
 if CANOPENNODE
 
-config CANOPEN_SDO_BUFFER_SIZE
+config CANOPENNODE_SDO_BUFFER_SIZE
 	int "CANopen SDO buffer size"
 	default 32
 	range 7 889
@@ -25,27 +25,27 @@ config CANOPEN_SDO_BUFFER_SIZE
 	  not limited to the SDO buffer size. If block transfer is
 	  implemented, value should be set to 889.
 
-config CANOPEN_TRACE_BUFFER_SIZE
+config CANOPENNODE_TRACE_BUFFER_SIZE
 	int "CANopen trace buffer size"
 	default 100
 	help
 	  Size of the CANopen trace buffer in bytes.
 
-config CANOPEN_TX_WORKQUEUE_STACK_SIZE
+config CANOPENNODE_TX_WORKQUEUE_STACK_SIZE
 	int "Stack size for the CANopen transmit workqueue"
 	default 320
 	help
 	  Size of the stack used for the internal CANopen transmit
 	  workqueue.
 
-config CANOPEN_TX_WORKQUEUE_PRIORITY
+config CANOPENNODE_TX_WORKQUEUE_PRIORITY
 	int "Priority for CANopen transmit workqueue"
 	default 0 if !COOP_ENABLED
 	default -1
 	help
 	  Priority level of the internal CANopen transmit workqueue.
 
-config CANOPEN_STORAGE
+config CANOPENNODE_STORAGE
 	bool "CANopen object dictionary storage"
 	depends on SETTINGS
 	default y
@@ -53,29 +53,29 @@ config CANOPEN_STORAGE
 	  Enable support for storing the CANopen object dictionary to
 	  non-volatile storage.
 
-config CANOPEN_STORAGE_HANDLER_ERASES_EEPROM
+config CANOPENNODE_STORAGE_HANDLER_ERASES_EEPROM
 	bool "Erase CANopen object dictionary EEPROM entries in storage handler"
-	depends on CANOPEN_STORAGE
+	depends on CANOPENNODE_STORAGE
 	help
 	  Erase CANopen object dictionary EEPROM entries upon write to
 	  object dictionary index 0x1011 subindex 1.
 
-config CANOPEN_LEDS
+config CANOPENNODE_LEDS
 	bool "CANopen LED indicators"
 	default y
 	help
 	  Enable support for CANopen LED indicators according to the CiA
 	  303-3 specification.
 
-config CANOPEN_LEDS_BICOLOR
+config CANOPENNODE_LEDS_BICOLOR
 	bool "CANopen bicolor LED indicator"
-	depends on CANOPEN_LEDS
+	depends on CANOPENNODE_LEDS
 	help
 	  Handle CANopen LEDs as one bicolor LED, favoring the red LED
 	  over the green LED in accordance with the CiA 303-3
 	  specification.
 
-config CANOPEN_SYNC_THREAD
+config CANOPENNODE_SYNC_THREAD
 	bool "CANopen SYNC thread"
 	default y
 	help
@@ -83,24 +83,24 @@ config CANOPEN_SYNC_THREAD
 	  TPDOs. Application layer must take care of SYNC RPDO and
 	  TPDO processing on its own if this is disabled.
 
-config CANOPEN_SYNC_THREAD_STACK_SIZE
+config CANOPENNODE_SYNC_THREAD_STACK_SIZE
 	int "Stack size for the CANopen SYNC thread"
-	depends on CANOPEN_SYNC_THREAD
+	depends on CANOPENNODE_SYNC_THREAD
 	default 256
 	help
 	  Size of the stack used for the internal thread which
 	  processes CANopen SYNC RPDOs and TPDOs.
 
-config CANOPEN_SYNC_THREAD_PRIORITY
+config CANOPENNODE_SYNC_THREAD_PRIORITY
 	int "Priority for CANopen SYNC thread"
-	depends on CANOPEN_SYNC_THREAD
+	depends on CANOPENNODE_SYNC_THREAD
 	default 0 if !COOP_ENABLED
 	default -5
 	help
 	  Priority level of the internal thread which processes
 	  CANopen SYNC RPDOs and TPDOs.
 
-config CANOPEN_PROGRAM_DOWNLOAD
+config CANOPENNODE_PROGRAM_DOWNLOAD
 	bool "CANopen program download"
 	depends on BOOTLOADER_MCUBOOT
 	select IMG_MANAGER
diff --git a/modules/canopennode/canopen_leds.c b/modules/canopennode/canopen_leds.c
index 8fccb130594..f1fad7659a5 100644
--- a/modules/canopennode/canopen_leds.c
+++ b/modules/canopennode/canopen_leds.c
@@ -5,7 +5,7 @@
  */
 
 #include <CANopen.h>
-#include <canbus/canopen.h>
+#include <canopennode.h>
 
 struct canopen_leds_state {
 	CO_NMT_t *nmt;
@@ -37,7 +37,7 @@ static void canopen_leds_update(struct k_timer *timer_id)
 
 	red = LED_RED_ERROR(canopen_leds.nmt);
 
-#ifdef CONFIG_CANOPEN_LEDS_BICOLOR
+#ifdef CONFIG_CANOPENNODE_LEDS_BICOLOR
 	if (red && canopen_leds.red_cb) {
 		green = false;
 	}
diff --git a/modules/canopennode/canopen_program.c b/modules/canopennode/canopen_program.c
index 0bb35bcb90f..9c2cde9b39f 100644
--- a/modules/canopennode/canopen_program.c
+++ b/modules/canopennode/canopen_program.c
@@ -6,7 +6,7 @@
 
 #include <CANopen.h>
 
-#include <canbus/canopen.h>
+#include <canopennode.h>
 #include <dfu/flash_img.h>
 #include <dfu/mcuboot.h>
 #include <storage/flash_map.h>
@@ -101,7 +101,7 @@ static CO_SDO_abortCode_t canopen_odf_1f50(CO_ODF_arg_t *odf_arg)
 			return CO_SDO_AB_HW;
 		}
 		ctx.flash_status = FLASH_STATUS_IN_PROGRESS;
-		if (IS_ENABLED(CONFIG_CANOPEN_LEDS)) {
+		if (IS_ENABLED(CONFIG_CANOPENNODE_LEDS)) {
 			canopen_leds_program_download(true);
 		}
 		ctx.total = odf_arg->dataLengthTotal;
diff --git a/modules/canopennode/canopen_storage.c b/modules/canopennode/canopen_storage.c
index 2df537b2ad8..3a1f5e35458 100644
--- a/modules/canopennode/canopen_storage.c
+++ b/modules/canopennode/canopen_storage.c
@@ -10,7 +10,7 @@
 #include <CO_Emergency.h>
 #include <CO_SDO.h>
 
-#include <canbus/canopen.h>
+#include <canopennode.h>
 
 #define LOG_LEVEL CONFIG_CANOPEN_LOG_LEVEL
 #include <logging/log.h>
@@ -100,7 +100,7 @@ static CO_SDO_abortCode_t canopen_odf_1011(CO_ODF_arg_t *odf_arg)
 		LOG_DBG("deleted object dictionary ROM entries");
 	}
 
-#ifdef CONFIG_CANOPEN_STORAGE_HANDLER_ERASES_EEPROM
+#ifdef CONFIG_CANOPENNODE_STORAGE_HANDLER_ERASES_EEPROM
 	err = canopen_storage_erase(CANOPEN_STORAGE_EEPROM);
 	if (err == -ENOENT) {
 		LOG_DBG("no object dictionary EEPROM entries to delete");
diff --git a/modules/canopennode/canopen_sync.c b/modules/canopennode/canopen_sync.c
index a01de7f1903..3a978d74055 100644
--- a/modules/canopennode/canopen_sync.c
+++ b/modules/canopennode/canopen_sync.c
@@ -45,6 +45,6 @@ static void canopen_sync_thread(void *p1, void *p2, void *p3)
 	}
 }
 
-K_THREAD_DEFINE(canopen_sync, CONFIG_CANOPEN_SYNC_THREAD_STACK_SIZE,
+K_THREAD_DEFINE(canopen_sync, CONFIG_CANOPENNODE_SYNC_THREAD_STACK_SIZE,
 		canopen_sync_thread, NULL, NULL, NULL,
-		CONFIG_CANOPEN_SYNC_THREAD_PRIORITY, 0, 1);
+		CONFIG_CANOPENNODE_SYNC_THREAD_PRIORITY, 0, 1);
diff --git a/modules/canopennode/canbus/canopen.h b/modules/canopennode/canopennode.h
similarity index 96%
rename from modules/canopennode/canbus/canopen.h
rename to modules/canopennode/canopennode.h
index 280a265cc8f..dfa877abd25 100644
--- a/modules/canopennode/canbus/canopen.h
+++ b/modules/canopennode/canopennode.h
@@ -4,7 +4,6 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-
 /**
  * @defgroup CAN CAN BUS
  * @{
@@ -18,8 +17,8 @@
  * @{
  */
 
-#ifndef ZEPHYR_INCLUDE_CANOPEN_H_
-#define ZEPHYR_INCLUDE_CANOPEN_H_
+#ifndef ZEPHYR_MODULES_CANOPENNODE_CANOPENNODE_H_
+#define ZEPHYR_MODULES_CANOPENNODE_CANOPENNODE_H_
 
 #include <CANopen.h>
 #include <CO_Emergency.h>
@@ -153,4 +152,4 @@ void canopen_leds_program_download(bool in_progress);
  * @}
  */
 
-#endif /* ZEPHYR_INCLUDE_CANOPEN_H_ */
+#endif /* ZEPHYR_MODULES_CANOPENNODE_CANOPENNODE_H_ */
diff --git a/samples/modules/canopennode/boards/frdm_k64f.conf b/samples/modules/canopennode/boards/frdm_k64f.conf
index 1f419546e4d..06997dcbf73 100644
--- a/samples/modules/canopennode/boards/frdm_k64f.conf
+++ b/samples/modules/canopennode/boards/frdm_k64f.conf
@@ -1,2 +1,2 @@
 CONFIG_MPU_ALLOW_FLASH_WRITE=y
-CONFIG_CANOPEN_LEDS_BICOLOR=y
+CONFIG_CANOPENNODE_LEDS_BICOLOR=y
diff --git a/samples/modules/canopennode/prj.conf b/samples/modules/canopennode/prj.conf
index c3621843dbe..eef763b968b 100644
--- a/samples/modules/canopennode/prj.conf
+++ b/samples/modules/canopennode/prj.conf
@@ -11,8 +11,8 @@ CONFIG_SETTINGS=y
 CONFIG_SETTINGS_NVS=y
 
 CONFIG_CANOPEN=y
-CONFIG_CANOPEN_SYNC_THREAD=y
-CONFIG_CANOPEN_STORAGE=y
-CONFIG_CANOPEN_LEDS=y
+CONFIG_CANOPENNODE_SYNC_THREAD=y
+CONFIG_CANOPENNODE_STORAGE=y
+CONFIG_CANOPENNODE_LEDS=y
 
 CONFIG_REBOOT=y
diff --git a/samples/modules/canopennode/prj_no_storage.conf b/samples/modules/canopennode/prj_no_storage.conf
index 00747308150..3468f28e246 100644
--- a/samples/modules/canopennode/prj_no_storage.conf
+++ b/samples/modules/canopennode/prj_no_storage.conf
@@ -5,7 +5,7 @@ CONFIG_CAN=y
 CONFIG_CAN_MAX_FILTER=13
 
 CONFIG_CANOPEN=y
-CONFIG_CANOPEN_SYNC_THREAD=y
-CONFIG_CANOPEN_LEDS=y
+CONFIG_CANOPENNODE_SYNC_THREAD=y
+CONFIG_CANOPENNODE_LEDS=y
 
 CONFIG_REBOOT=y
diff --git a/samples/modules/canopennode/src/main.c b/samples/modules/canopennode/src/main.c
index 8f5cf6688e2..9586fa4970d 100644
--- a/samples/modules/canopennode/src/main.c
+++ b/samples/modules/canopennode/src/main.c
@@ -8,7 +8,7 @@
 #include <drivers/gpio.h>
 #include <sys/reboot.h>
 #include <settings/settings.h>
-#include <canbus/canopen.h>
+#include <canopennode.h>
 
 #define LOG_LEVEL CONFIG_CANOPEN_LOG_LEVEL
 #include <logging/log.h>
@@ -206,9 +206,9 @@ void main(void)
 	uint16_t timeout;
 	uint32_t elapsed;
 	int64_t timestamp;
-#ifdef CONFIG_CANOPEN_STORAGE
+#ifdef CONFIG_CANOPENNODE_STORAGE
 	int ret;
-#endif /* CONFIG_CANOPEN_STORAGE */
+#endif /* CONFIG_CANOPENNODE_STORAGE */
 
 	can.dev = device_get_binding(CAN_INTERFACE);
 	if (!can.dev) {
@@ -216,7 +216,7 @@ void main(void)
 		return;
 	}
 
-#ifdef CONFIG_CANOPEN_STORAGE
+#ifdef CONFIG_CANOPENNODE_STORAGE
 	ret = settings_subsys_init();
 	if (ret) {
 		LOG_ERR("failed to initialize settings subsystem (err = %d)",
@@ -229,7 +229,7 @@ void main(void)
 		LOG_ERR("failed to load settings (err = %d)", ret);
 		return;
 	}
-#endif /* CONFIG_CANOPEN_STORAGE */
+#endif /* CONFIG_CANOPENNODE_STORAGE */
 
 	OD_powerOnCounter++;
 
@@ -246,15 +246,15 @@ void main(void)
 
 		LOG_INF("CANopen stack initialized");
 
-#ifdef CONFIG_CANOPEN_STORAGE
+#ifdef CONFIG_CANOPENNODE_STORAGE
 		canopen_storage_attach(CO->SDO[0], CO->em);
-#endif /* CONFIG_CANOPEN_STORAGE */
+#endif /* CONFIG_CANOPENNODE_STORAGE */
 
 		config_leds(CO->NMT);
 		CO_OD_configure(CO->SDO[0], OD_2102_buttonPressCounter,
 				odf_2102, NULL, 0U, 0U);
 
-		if (IS_ENABLED(CONFIG_CANOPEN_PROGRAM_DOWNLOAD)) {
+		if (IS_ENABLED(CONFIG_CANOPENNODE_PROGRAM_DOWNLOAD)) {
 			canopen_program_download_attach(CO->NMT, CO->SDO[0],
 							CO->em);
 		}
@@ -275,13 +275,13 @@ void main(void)
 				OD_buttonPressCounter = counter;
 				CO_UNLOCK_OD();
 
-#ifdef CONFIG_CANOPEN_STORAGE
+#ifdef CONFIG_CANOPENNODE_STORAGE
 				ret = canopen_storage_save(
 					CANOPEN_STORAGE_EEPROM);
 				if (ret) {
 					LOG_ERR("failed to save EEPROM");
 				}
-#endif /* CONFIG_CANOPEN_STORAGE */
+#endif /* CONFIG_CANOPENNODE_STORAGE */
 				/*
 				 * Try to sleep for as long as the
 				 * stack requested and calculate the