diff --git a/pw_thread_freertos/BUILD b/pw_thread_freertos/BUILD
index 5b0895d..c36ba6d 100644
--- a/pw_thread_freertos/BUILD
+++ b/pw_thread_freertos/BUILD
@@ -96,6 +96,7 @@
     deps = [
         ":id",
         "//pw_assert",
+        "//pw_string",
         "//pw_sync:binary_semaphore",
         "//pw_thread:thread_headers",
     ],
diff --git a/pw_thread_freertos/BUILD.gn b/pw_thread_freertos/BUILD.gn
index 7071804..742a1e2 100644
--- a/pw_thread_freertos/BUILD.gn
+++ b/pw_thread_freertos/BUILD.gn
@@ -104,6 +104,7 @@
   public_deps = [
     ":config",
     "$dir_pw_assert",
+    "$dir_pw_string",
     "$dir_pw_third_party/freertos",
     "$dir_pw_thread:id",
     "$dir_pw_thread:thread.facade",
diff --git a/pw_thread_freertos/public/pw_thread_freertos/config.h b/pw_thread_freertos/public/pw_thread_freertos/config.h
index 90c8c7a..b0494d4 100644
--- a/pw_thread_freertos/public/pw_thread_freertos/config.h
+++ b/pw_thread_freertos/public/pw_thread_freertos/config.h
@@ -18,8 +18,16 @@
 #include "task.h"
 
 // Whether thread joining is enabled. By default this is disabled.
-// When enabled this adds a StaticEventGroup_t & EventGroupHandle_t to
-// every pw::thread::Thread's context.
+//
+// We suggest only enabling this when thread joining is required to minimize
+// the RAM and ROM cost of threads.
+//
+// Enabling this grows the RAM footprint of every pw::thread::Thread as it adds
+// a StaticEventGroup_t to every thread's pw::thread::freertos::Context. In
+// addition, there is a minute ROM cost to construct and destroy this added
+// object.
+//
+// PW_THREAD_JOINING_ENABLED gets set to this value.
 #ifndef PW_THREAD_FREERTOS_CONFIG_JOINING_ENABLED
 #define PW_THREAD_FREERTOS_CONFIG_JOINING_ENABLED 0
 #endif  // PW_THREAD_FREERTOS_CONFIG_JOINING_ENABLED
@@ -47,7 +55,7 @@
 // The default stack size in words. By default this uses the minimal FreeRTOS
 // priority level above the idle priority.
 #ifndef PW_THREAD_FREERTOS_CONFIG_DEFAULT_PRIORITY
-#define PW_THREAD_FREERTOS_CONFIG_DEFAULT_PRIORITY tskIDLE_PRIORITY + 1
+#define PW_THREAD_FREERTOS_CONFIG_DEFAULT_PRIORITY (tskIDLE_PRIORITY + 1)
 #endif  // PW_THREAD_FREERTOS_CONFIG_DEFAULT_PRIORITY
 
 namespace pw::thread::freertos::config {
diff --git a/pw_thread_freertos/public/pw_thread_freertos/context.h b/pw_thread_freertos/public/pw_thread_freertos/context.h
index 71bf1d5..a1c0bc4 100644
--- a/pw_thread_freertos/public/pw_thread_freertos/context.h
+++ b/pw_thread_freertos/public/pw_thread_freertos/context.h
@@ -56,8 +56,8 @@
 
   using ThreadRoutine = void (*)(void* arg);
   void set_thread_routine(ThreadRoutine entry, void* arg) {
-    entry_ = entry;
-    arg_ = arg;
+    user_thread_entry_function_ = entry;
+    user_thread_entry_arg_ = arg;
   }
 
   bool detached() const { return detached_; }
@@ -75,12 +75,12 @@
   StaticEventGroup_t& join_event_group() { return event_group_; }
 #endif  // PW_THREAD_JOINING_ENABLED
 
-  static void RunThread(void* void_context_ptr);
+  static void ThreadEntryPoint(void* void_context_ptr);
   static void TerminateThread(Context& context);
 
   TaskHandle_t task_handle_ = nullptr;
-  ThreadRoutine entry_ = nullptr;
-  void* arg_ = nullptr;
+  ThreadRoutine user_thread_entry_function_ = nullptr;
+  void* user_thread_entry_arg_ = nullptr;
 #if PW_THREAD_JOINING_ENABLED
   // Note that the FreeRTOS life cycle of this event group is managed together
   // with the task life cycle, not this object's life cycle.
diff --git a/pw_thread_freertos/thread.cc b/pw_thread_freertos/thread.cc
index 5f63291..7854e19 100644
--- a/pw_thread_freertos/thread.cc
+++ b/pw_thread_freertos/thread.cc
@@ -31,9 +31,11 @@
 #endif  // PW_THREAD_JOINING_ENABLED
 }  // namespace
 
-void Context::RunThread(void* void_context_ptr) {
+void Context::ThreadEntryPoint(void* void_context_ptr) {
   Context& context = *static_cast<Context*>(void_context_ptr);
-  context.entry_(context.arg_);
+
+  // Invoke the user's thread function. This may never return.
+  context.user_thread_entry_function_(context.user_thread_entry_arg_);
 
   // Use a task only critical section to guard against join() and detach().
   vTaskSuspendAll();
@@ -44,8 +46,9 @@
     context.set_task_handle(nullptr);
 
 #if PW_THREAD_JOINING_ENABLED
-    // Just in case someone abused our API, ensure their use of the event group
-    // is properly handled by the kernel regardless.
+    // If the thread handle was detached before the thread finished execution,
+    // i.e. got here, then we are responsible for cleaning up the join event
+    // group.
     vEventGroupDelete(&context.join_event_group());
 #endif  // PW_THREAD_JOINING_ENABLED
 
@@ -133,7 +136,7 @@
     // invoke the task with its arg.
     native_type_->set_thread_routine(entry, arg);
     const TaskHandle_t task_handle =
-        xTaskCreateStatic(Context::RunThread,
+        xTaskCreateStatic(Context::ThreadEntryPoint,
                           options.name(),
                           options.static_context()->stack().size(),
                           native_type_,
@@ -164,7 +167,7 @@
     // invoke the task with its arg.
     native_type_->set_thread_routine(entry, arg);
     TaskHandle_t task_handle;
-    const BaseType_t result = xTaskCreate(Context::RunThread,
+    const BaseType_t result = xTaskCreate(Context::ThreadEntryPoint,
                                           options.name(),
                                           options.stack_size_words(),
                                           native_type_,
@@ -197,12 +200,12 @@
 #endif  // INCLUDE_vTaskSuspend == 1
 
   if (thread_done) {
-    // The task finished (hit end of Context::RunThread) before we invoked
-    // detach, clean up the thread.
+    // The task finished (hit end of Context::ThreadEntryPoint) before we
+    // invoked detach, clean up the thread.
     Context::TerminateThread(*native_type_);
   } else {
     // We're detaching before the task finished, defer cleanup to the task at
-    // the end of Context::RunThread.
+    // the end of Context::ThreadEntryPoint.
   }
 
   // Update to no longer represent a thread of execution.