diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 12da5cad..78899d83 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -1841,7 +1841,7 @@ mju_error_i
 
 .. mujoco-include:: mju_error_i
 
-Deprecated: use mju_error
+Deprecated: use mju_error.
 
 .. _mju_error_s:
 
@@ -1850,7 +1850,7 @@ mju_error_s
 
 .. mujoco-include:: mju_error_s
 
-Deprecated: use mju_error
+Deprecated: use mju_error.
 
 .. _mju_warning:
 
@@ -1868,7 +1868,7 @@ mju_warning_i
 
 .. mujoco-include:: mju_warning_i
 
-Deprecated: use mju_warning
+Deprecated: use mju_warning.
 
 .. _mju_warning_s:
 
@@ -1877,7 +1877,7 @@ mju_warning_s
 
 .. mujoco-include:: mju_warning_s
 
-Deprecated: use_mju_warning
+Deprecated: use mju_warning.
 
 .. _mju_clearHandlers:
 
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 9a270529..9716fa4b 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -740,19 +740,19 @@ MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
 // Main error function; does not return to caller.
 MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
 
-// Deprecated: use mju_error
+// Deprecated: use mju_error.
 MJAPI void mju_error_i(const char* msg, int i);
 
-// Deprecated: use mju_error
+// Deprecated: use mju_error.
 MJAPI void mju_error_s(const char* msg, const char* text);
 
 // Main warning function; returns to caller.
 MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
 
-// Deprecated: use mju_warning
+// Deprecated: use mju_warning.
 MJAPI void mju_warning_i(const char* msg, int i);
 
-// Deprecated: use_mju_warning
+// Deprecated: use mju_warning.
 MJAPI void mju_warning_s(const char* msg, const char* text);
 
 // Clear user error and memory handlers.
diff --git a/introspect/functions.py b/introspect/functions.py
index 929d72b1..508944cf 100644
--- a/introspect/functions.py
+++ b/introspect/functions.py
@@ -4674,7 +4674,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Deprecated: use mju_error',
+         doc='Deprecated: use mju_error.',
      )),
     ('mju_error_s',
      FunctionDecl(
@@ -4694,7 +4694,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Deprecated: use mju_error',
+         doc='Deprecated: use mju_error.',
      )),
     ('mju_warning',
      FunctionDecl(
@@ -4726,7 +4726,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Deprecated: use mju_warning',
+         doc='Deprecated: use mju_warning.',
      )),
     ('mju_warning_s',
      FunctionDecl(
@@ -4746,7 +4746,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Deprecated: use_mju_warning',
+         doc='Deprecated: use mju_warning.',
      )),
     ('mju_clearHandlers',
      FunctionDecl(