diff --git a/components/pthread/CMakeLists.txt b/components/pthread/CMakeLists.txt
index d488c92a9d..136bf9cf1c 100644
--- a/components/pthread/CMakeLists.txt
+++ b/components/pthread/CMakeLists.txt
@@ -3,6 +3,16 @@ idf_component_register(SRCS "pthread.c"
                             "pthread_local_storage.c"
                     INCLUDE_DIRS include)
 
+if(GCC_NOT_5_2_0)
+    set(extra_link_flags "-u pthread_include_pthread_impl")
+    list(APPEND extra_link_flags "-u pthread_include_pthread_cond_impl")
+    list(APPEND extra_link_flags "-u pthread_include_pthread_local_storage_impl")
+endif()
+
 if(CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP)
     target_link_libraries(${COMPONENT_LIB} "-Wl,--wrap=vPortCleanUpTCB")
 endif()
+
+if(extra_link_flags)
+    target_link_libraries(${COMPONENT_LIB} INTERFACE "${extra_link_flags}")
+endif()
diff --git a/components/pthread/Kconfig b/components/pthread/Kconfig
index 61fa8a33e6..20e3f6123f 100644
--- a/components/pthread/Kconfig
+++ b/components/pthread/Kconfig
@@ -1,46 +1,46 @@
 menu "PThreads"
 
-    config ESP32_PTHREAD_TASK_PRIO_DEFAULT
+    config PTHREAD_TASK_PRIO_DEFAULT
         int "Default task priority"
         range 0 255
         default 5
         help
             Priority used to create new tasks with default pthread parameters.
 
-    config ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT
+    config PTHREAD_TASK_STACK_SIZE_DEFAULT
         int "Default task stack size"
         default 3072
         help
             Stack size used to create new tasks with default pthread parameters.
 
-    config ESP32_PTHREAD_STACK_MIN
+    config PTHREAD_STACK_MIN
         int "Minimum allowed pthread stack size"
         default 768
         help
             Minimum allowed pthread stack size set in attributes passed to pthread_create
 
-    choice ESP32_PTHREAD_TASK_CORE_DEFAULT
+    choice PTHREAD_TASK_CORE_DEFAULT
         bool "Default pthread core affinity"
-        default ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY
+        default PTHREAD_DEFAULT_CORE_NO_AFFINITY
         depends on !FREERTOS_UNICORE
         help
             The default core to which pthreads are pinned.
 
-        config ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY
+        config PTHREAD_DEFAULT_CORE_NO_AFFINITY
             bool "No affinity"
-        config ESP32_DEFAULT_PTHREAD_CORE_0
+        config PTHREAD_DEFAULT_CORE_0
             bool "Core 0"
-        config ESP32_DEFAULT_PTHREAD_CORE_1
+        config PTHREAD_DEFAULT_CORE_1
             bool "Core 1"
     endchoice
 
-    config ESP32_PTHREAD_TASK_CORE_DEFAULT
+    config PTHREAD_TASK_CORE_DEFAULT
         int
-        default -1 if ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY || FREERTOS_UNICORE
-        default 0 if ESP32_DEFAULT_PTHREAD_CORE_0
-        default 1 if ESP32_DEFAULT_PTHREAD_CORE_1
+        default -1 if PTHREAD_DEFAULT_CORE_NO_AFFINITY || FREERTOS_UNICORE
+        default 0 if PTHREAD_DEFAULT_CORE_0
+        default 1 if PTHREAD_DEFAULT_CORE_1
 
-    config ESP32_PTHREAD_TASK_NAME_DEFAULT
+    config PTHREAD_TASK_NAME_DEFAULT
         string "Default name of pthreads"
         default "pthread"
         help
diff --git a/components/pthread/component.mk b/components/pthread/component.mk
index 9c3eececf5..c5793fded6 100644
--- a/components/pthread/component.mk
+++ b/components/pthread/component.mk
@@ -11,3 +11,11 @@ COMPONENT_ADD_LDFLAGS := -lpthread
 ifdef CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
 COMPONENT_ADD_LDFLAGS += -Wl,--wrap=vPortCleanUpTCB
 endif
+
+ifeq ($(GCC_NOT_5_2_0), 1)
+# Forces the linker to include pthread implementation from this component,
+# instead of the weak implementations provided by libgcc.
+COMPONENT_ADD_LDFLAGS += -u pthread_include_pthread_impl
+COMPONENT_ADD_LDFLAGS += -u pthread_include_pthread_cond_impl
+COMPONENT_ADD_LDFLAGS += -u pthread_include_pthread_local_storage_impl
+endif  # GCC_NOT_5_2_0
diff --git a/components/pthread/include/esp_pthread.h b/components/pthread/include/esp_pthread.h
index ca93c9c380..76f45a32ab 100644
--- a/components/pthread/include/esp_pthread.h
+++ b/components/pthread/include/esp_pthread.h
@@ -22,7 +22,7 @@ extern "C" {
 #endif
 
 #ifndef PTHREAD_STACK_MIN
-#define PTHREAD_STACK_MIN    CONFIG_ESP32_PTHREAD_STACK_MIN
+#define PTHREAD_STACK_MIN    CONFIG_PTHREAD_STACK_MIN
 #endif
 
 /** pthread configuration structure that influences pthread creation */
diff --git a/components/pthread/pthread.c b/components/pthread/pthread.c
index 84997c9aad..ce0c064ce3 100644
--- a/components/pthread/pthread.c
+++ b/components/pthread/pthread.c
@@ -170,14 +170,14 @@ esp_err_t esp_pthread_get_cfg(esp_pthread_cfg_t *p)
 
 static int get_default_pthread_core()
 {
-    return CONFIG_ESP32_PTHREAD_TASK_CORE_DEFAULT == -1 ? tskNO_AFFINITY : CONFIG_ESP32_PTHREAD_TASK_CORE_DEFAULT;
+    return CONFIG_PTHREAD_TASK_CORE_DEFAULT == -1 ? tskNO_AFFINITY : CONFIG_PTHREAD_TASK_CORE_DEFAULT;
 }
 
 esp_pthread_cfg_t esp_pthread_get_default_config()
 {
     esp_pthread_cfg_t cfg = {
-        .stack_size = CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT,
-        .prio = CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT,
+        .stack_size = CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT,
+        .prio = CONFIG_PTHREAD_TASK_PRIO_DEFAULT,
         .inherit_cfg = false,
         .thread_name = NULL,
         .pin_to_core = get_default_pthread_core()
@@ -233,10 +233,10 @@ int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
         return ENOMEM;
     }
 
-    uint32_t stack_size = CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT;
-    BaseType_t prio = CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT;
+    uint32_t stack_size = CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT;
+    BaseType_t prio = CONFIG_PTHREAD_TASK_PRIO_DEFAULT;
     BaseType_t core_id = get_default_pthread_core();
-    const char *task_name = CONFIG_ESP32_PTHREAD_TASK_NAME_DEFAULT;
+    const char *task_name = CONFIG_PTHREAD_TASK_NAME_DEFAULT;
 
     esp_pthread_cfg_t *pthread_cfg = pthread_getspecific(s_pthread_cfg_key);
     if (pthread_cfg) {
@@ -256,7 +256,7 @@ int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
                 task_name = pthread_cfg->thread_name;
             }
         } else if (pthread_cfg->thread_name == NULL) {
-            task_name = CONFIG_ESP32_PTHREAD_TASK_NAME_DEFAULT;
+            task_name = CONFIG_PTHREAD_TASK_NAME_DEFAULT;
         } else {
             task_name = pthread_cfg->thread_name;
         }
@@ -758,7 +758,7 @@ int pthread_attr_init(pthread_attr_t *attr)
 {
     if (attr) {
         /* Nothing to allocate. Set everything to default */
-        attr->stacksize   = CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT;
+        attr->stacksize   = CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT;
         attr->detachstate = PTHREAD_CREATE_JOINABLE;
         return 0;
     }
@@ -769,7 +769,7 @@ int pthread_attr_destroy(pthread_attr_t *attr)
 {
     if (attr) {
         /* Nothing to deallocate. Reset everything to default */
-        attr->stacksize   = CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT;
+        attr->stacksize   = CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT;
         attr->detachstate = PTHREAD_CREATE_JOINABLE;
         return 0;
     }
@@ -820,3 +820,8 @@ int pthread_attr_setdetachstate(pthread_attr_t *attr, int detachstate)
     }
     return EINVAL;
 }
+
+/* Hook function to force linking this file */
+void pthread_include_pthread_impl()
+{
+}
diff --git a/components/pthread/pthread_cond_var.c b/components/pthread/pthread_cond_var.c
index fe3144512d..8db28ae5e1 100644
--- a/components/pthread/pthread_cond_var.c
+++ b/components/pthread/pthread_cond_var.c
@@ -198,3 +198,8 @@ int pthread_cond_destroy(pthread_cond_t *cv)
 
     return ret;
 }
+
+/* Hook function to force linking this file */
+void pthread_include_pthread_cond_var_impl()
+{
+}
diff --git a/components/pthread/pthread_local_storage.c b/components/pthread/pthread_local_storage.c
index 5e2dbafd21..ecf252e4cc 100644
--- a/components/pthread/pthread_local_storage.c
+++ b/components/pthread/pthread_local_storage.c
@@ -255,3 +255,8 @@ int pthread_setspecific(pthread_key_t key, const void *value)
 
     return 0;
 }
+
+/* Hook function to force linking this file */
+void pthread_include_pthread_local_storage_impl()
+{
+}
diff --git a/components/pthread/sdkconfig.rename b/components/pthread/sdkconfig.rename
index b72b647076..fb5c0ff34c 100644
--- a/components/pthread/sdkconfig.rename
+++ b/components/pthread/sdkconfig.rename
@@ -1,4 +1,11 @@
 # sdkconfig replacement configurations for deprecated options formatted as
 # CONFIG_DEPRECATED_OPTION CONFIG_NEW_OPTION
 
-CONFIG_PTHREAD_STACK_MIN    CONFIG_ESP32_PTHREAD_STACK_MIN
+CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT CONFIG_PTHREAD_TASK_PRIO_DEFAULT
+CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT
+CONFIG_ESP32_PTHREAD_STACK_MIN CONFIG_PTHREAD_STACK_MIN
+CONFIG_ESP32_PTHREAD_TASK_CORE_DEFAULT CONFIG_PTHREAD_TASK_CORE_DEFAULT
+CONFIG_ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY CONFIG_PTHREAD_DEFAULT_CORE_NO_AFFINITY
+CONFIG_ESP32_DEFAULT_PTHREAD_CORE_0 CONFIG_PTHREAD_DEFAULT_CORE_0
+CONFIG_ESP32_DEFAULT_PTHREAD_CORE_1 CONFIG_PTHREAD_DEFAULT_CORE_1
+CONFIG_ESP32_PTHREAD_TASK_NAME_DEFAULT CONFIG_PTHREAD_TASK_NAME_DEFAULT
diff --git a/tools/ldgen/samples/sdkconfig b/tools/ldgen/samples/sdkconfig
index 075841ea81..43c81dd18a 100644
--- a/tools/ldgen/samples/sdkconfig
+++ b/tools/ldgen/samples/sdkconfig
@@ -483,8 +483,8 @@ CONFIG_OPENSSL_ASSERT_EXIT=
 #
 # PThreads
 #
-CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT=5
-CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072
+CONFIG_PTHREAD_TASK_PRIO_DEFAULT=5
+CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072
 
 #
 # SPI Flash driver