diff --git a/arch/arm/src/nrf91/nrf91_modem_os.c b/arch/arm/src/nrf91/nrf91_modem_os.c
index dad289f25d..1389a0f297 100644
--- a/arch/arm/src/nrf91/nrf91_modem_os.c
+++ b/arch/arm/src/nrf91/nrf91_modem_os.c
@@ -27,6 +27,7 @@
 #include <arch/irq.h>
 
 #include <nuttx/mutex.h>
+#include <nuttx/semaphore.h>
 #include <nuttx/signal.h>
 
 #include <nuttx/mm/mm.h>
@@ -119,7 +120,7 @@ void nrf_waiting_free(struct nrf91_modem_os_waiting_s *w)
 {
   nxmutex_lock(&g_nrf91_modem_os.waiting_lock);
 
-  sem_destroy(&w->sem);
+  nxsem_destroy(&w->sem);
   w->context = 0;
   w->waiting = false;
 
@@ -176,7 +177,7 @@ void nrf_modem_os_shutdown(void)
       waiting = &g_nrf91_modem_os.waiting[i];
       if (waiting->waiting == true)
         {
-          sem_post(&waiting->sem);
+          nxsem_post(&waiting->sem);
         }
     }
 
@@ -298,7 +299,7 @@ int32_t nrf_modem_os_timedwait(uint32_t context, int32_t *timeout)
     {
       /* Wait for event */
 
-      sem_wait(&waiting->sem);
+      nxsem_wait(&waiting->sem);
       ret = OK;
     }
   else
@@ -308,7 +309,7 @@ int32_t nrf_modem_os_timedwait(uint32_t context, int32_t *timeout)
       abstime.tv_sec  = *timeout / 1000;
       abstime.tv_nsec = (*timeout % 1000) * 1000000;
 
-      sem_timedwait(&waiting->sem, &abstime);
+      nxsem_timedwait(&waiting->sem, &abstime);
     }
 
   /* Free a waiting slot */
@@ -368,7 +369,7 @@ void nrf_modem_os_event_notify(uint32_t context)
         {
           if (waiting->context == context || context == 0)
             {
-              sem_post(&waiting->sem);
+              nxsem_post(&waiting->sem);
             }
         }
     }
@@ -433,7 +434,7 @@ int nrf_modem_os_sem_init(void **sem, unsigned int initial_count,
   UNUSED(limit);
 
   DEBUGASSERT(g_nrf91_modem_os.sem_cntr < NRF_MODEM_OS_NUM_SEM_REQUIRED);
-  ret = sem_init(modemsem, 0, initial_count);
+  ret = nxsem_init(modemsem, 0, initial_count);
   g_nrf91_modem_os.sem_cntr++;
 
   *sem = (void *)modemsem;
@@ -451,7 +452,7 @@ int nrf_modem_os_sem_init(void **sem, unsigned int initial_count,
 
 void nrf_modem_os_sem_give(void *sem)
 {
-  sem_post((sem_t *)sem);
+  nxsem_post((sem_t *)sem);
 }
 
 /****************************************************************************
@@ -469,7 +470,7 @@ int nrf_modem_os_sem_take(void *sem, int timeout)
 
   if (timeout == -1)
     {
-      ret = sem_wait(s);
+      ret = nxsem_wait(s);
     }
   else
     {
@@ -478,7 +479,7 @@ int nrf_modem_os_sem_take(void *sem, int timeout)
       abstime.tv_sec  = timeout / 1000;
       abstime.tv_nsec = (timeout % 1000) * 1000000;
 
-      ret = sem_timedwait(s, &abstime);
+      ret = nxsem_timedwait(s, &abstime);
     }
 
   return ret;
@@ -496,7 +497,7 @@ unsigned int nrf_modem_os_sem_count_get(void *sem)
 {
   int sval = 0;
 
-  sem_getvalue((sem_t *)sem, &sval);
+  nxsem_get_value((sem_t *)sem, &sval);
   return sval;
 }
 
diff --git a/arch/xtensa/src/esp32s3/esp32s3_ble_adapter.c b/arch/xtensa/src/esp32s3/esp32s3_ble_adapter.c
index 24ce6cc182..a80a1da389 100644
--- a/arch/xtensa/src/esp32s3/esp32s3_ble_adapter.c
+++ b/arch/xtensa/src/esp32s3/esp32s3_ble_adapter.c
@@ -935,7 +935,7 @@ static void *semphr_create_wrapper(uint32_t max, uint32_t init)
 static void semphr_delete_wrapper(void *semphr)
 {
   struct bt_sem_s *bt_sem = (struct bt_sem_s *)semphr;
-  sem_destroy(&bt_sem->sem);
+  nxsem_destroy(&bt_sem->sem);
   kmm_free(bt_sem);
 }
 
diff --git a/drivers/syslog/ramlog.c b/drivers/syslog/ramlog.c
index bb0ecddee3..bac15c5be8 100644
--- a/drivers/syslog/ramlog.c
+++ b/drivers/syslog/ramlog.c
@@ -179,7 +179,7 @@ static int ramlog_readnotify(FAR struct ramlog_dev_s *priv)
     {
       int semcount = 0;
 
-      sem_getvalue(&priv->rl_waitsem, &semcount);
+      nxsem_get_value(&priv->rl_waitsem, &semcount);
       if (semcount >= 0)
         {
           break;
diff --git a/drivers/virtio/virtio-gpu.c b/drivers/virtio/virtio-gpu.c
index 3c75cd0b22..2e912919bc 100644
--- a/drivers/virtio/virtio-gpu.c
+++ b/drivers/virtio/virtio-gpu.c
@@ -25,6 +25,7 @@
 #include <debug.h>
 
 #include <nuttx/kmalloc.h>
+#include <nuttx/semaphore.h>
 #include <nuttx/video/fb.h>
 #include <nuttx/virtio/virtio.h>
 
@@ -145,17 +146,17 @@ static int virtio_gpu_send_cmd(FAR struct virtqueue *vq,
       sem_t sem;
       struct virtio_gpu_cookie_s cookie;
 
-      sem_init(&sem, 0, 0);
+      nxsem_init(&sem, 0, 0);
       cookie.blocking = true;
       cookie.p = &sem;
       ret = virtqueue_add_buffer(vq, buf_list, readable, writable, &cookie);
       if (ret >= 0)
         {
           virtqueue_kick(vq);
-          sem_wait(&sem);
+          nxsem_wait(&sem);
         }
 
-      sem_destroy(&sem);
+      nxsem_destroy(&sem);
     }
   else
     {
@@ -200,7 +201,7 @@ static void virtio_gpu_done(FAR struct virtqueue *vq)
     {
       if (cookie->blocking)
         {
-          sem_post((FAR sem_t *)cookie->p);
+          nxsem_post((FAR sem_t *)cookie->p);
         }
       else
         {