diff --git a/components/ulp/ulp_riscv/include/esp32s2/ulp_riscv.h b/components/ulp/ulp_riscv/include/esp32s2/ulp_riscv.h
index 29e90e0e60..c312b6c698 100644
--- a/components/ulp/ulp_riscv/include/esp32s2/ulp_riscv.h
+++ b/components/ulp/ulp_riscv/include/esp32s2/ulp_riscv.h
@@ -3,6 +3,7 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  */
+#pragma once
 
 #warning Contents of esp32s2/ulp_riscv.h have been merged with ulp_riscv.h. Please include the later to avoid the warning.
-#include "ulp_riscv.h"
+#include "../ulp_riscv.h"
diff --git a/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv.h b/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv.h
index 0e2d3d2ada..c685bb328e 100644
--- a/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv.h
+++ b/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv.h
@@ -3,6 +3,7 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  */
+#pragma once
 
-#warning Contents of ulp_riscv/ulp_riscv.h have been merged with ulp_riscv_utils.Please include the later to avoid the warning.
-#include "ulp_riscv_utils.h"
+#warning Contents of ulp_riscv/ulp_riscv.h have been deprecated. Please include the header which contains the actual definitions you are trying to use, e.g. "ulp_riscv_register_ops.h".
+#include "../ulp_riscv_register_ops.h"
diff --git a/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_gpio.h b/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_gpio.h
index ebc74d86cc..dff35465f0 100644
--- a/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_gpio.h
+++ b/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_gpio.h
@@ -4,5 +4,7 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#warning ulp_riscv_gpio.h has been moved one level up. Please include the file without the ulp_riscv prefix.
-#include "ulp_riscv_gpio.h"
+#pragma once
+
+#warning "ulp_riscv_gpio.h has been moved one level up. Please include the file without the ulp_riscv prefix."
+#include "../ulp_riscv_gpio.h"
diff --git a/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_register_ops.h b/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_register_ops.h
index 5a36adbdc6..fa0e358f03 100644
--- a/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_register_ops.h
+++ b/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_register_ops.h
@@ -3,6 +3,7 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  */
+#pragma once
 
 #warning ulp_riscv_register_ops.h has been moved one level up. Please include the file without the ulp_riscv prefix.
-#include "ulp_riscv_register_ops.h"
+#include "../ulp_riscv_register_ops.h"
diff --git a/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_utils.h b/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_utils.h
index 5b46793bd9..d0a7cfb7fb 100644
--- a/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_utils.h
+++ b/components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_utils.h
@@ -3,6 +3,7 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  */
+#pragma once
 
 #warning ulp_riscv_utils.h has been moved one level up. Please include the file without the ulp_riscv prefix.
-#include "ulp_riscv_utils.h"
+#include "../ulp_riscv_utils.h"