diff --git a/docs/snippets/dynamic.py b/docs/snippets/dynamic.py
index dac6894b7..9dad42e7a 100644
--- a/docs/snippets/dynamic.py
+++ b/docs/snippets/dynamic.py
@@ -8,7 +8,7 @@
 
 from fastcs.attributes import AttrHandlerRW, Attribute, AttrR, AttrRW, AttrW
 from fastcs.connections import IPConnection, IPConnectionSettings
-from fastcs.controller import Controller, SubController
+from fastcs.controller import Controller
 from fastcs.datatypes import Bool, DataType, Float, Int, String
 from fastcs.launch import FastCS
 from fastcs.transport.epics.ca.options import EpicsCAOptions
@@ -76,7 +76,7 @@ async def put(self, attr: AttrW, value: Any):
         )
 
 
-class TemperatureRampController(SubController):
+class TemperatureRampController(Controller):
     def __init__(self, index: int, connection: IPConnection):
         super().__init__(f"Ramp {index}")
 
diff --git a/docs/snippets/static10.py b/docs/snippets/static10.py
index 919254547..44f569f6d 100644
--- a/docs/snippets/static10.py
+++ b/docs/snippets/static10.py
@@ -6,7 +6,7 @@
 
 from fastcs.attributes import AttrHandlerRW, AttrR, AttrRW, AttrW
 from fastcs.connections import IPConnection, IPConnectionSettings
-from fastcs.controller import BaseController, Controller, SubController
+from fastcs.controller import BaseController, Controller
 from fastcs.datatypes import Float, Int, String
 from fastcs.launch import FastCS
 from fastcs.transport.epics.ca.options import EpicsCAOptions
@@ -44,7 +44,7 @@ async def put(self, attr: AttrW, value: Any):
         )
 
 
-class TemperatureRampController(SubController):
+class TemperatureRampController(Controller):
     start = AttrRW(Int(), handler=TemperatureControllerHandler("S"))
     end = AttrRW(Int(), handler=TemperatureControllerHandler("E"))
 
diff --git a/docs/snippets/static11.py b/docs/snippets/static11.py
index fb56b129a..55d3ab29f 100644
--- a/docs/snippets/static11.py
+++ b/docs/snippets/static11.py
@@ -7,7 +7,7 @@
 
 from fastcs.attributes import AttrHandlerRW, AttrR, AttrRW, AttrW
 from fastcs.connections import IPConnection, IPConnectionSettings
-from fastcs.controller import BaseController, Controller, SubController
+from fastcs.controller import BaseController, Controller
 from fastcs.datatypes import Enum, Float, Int, String
 from fastcs.launch import FastCS
 from fastcs.transport.epics.ca.options import EpicsCAOptions
@@ -50,7 +50,7 @@ class OnOffEnum(enum.StrEnum):
     On = "1"
 
 
-class TemperatureRampController(SubController):
+class TemperatureRampController(Controller):
     start = AttrRW(Int(), handler=TemperatureControllerHandler("S"))
     end = AttrRW(Int(), handler=TemperatureControllerHandler("E"))
     enabled = AttrRW(Enum(OnOffEnum), handler=TemperatureControllerHandler("N"))
diff --git a/docs/snippets/static12.py b/docs/snippets/static12.py
index b14b1d198..1613c1d7c 100644
--- a/docs/snippets/static12.py
+++ b/docs/snippets/static12.py
@@ -8,7 +8,7 @@
 
 from fastcs.attributes import AttrHandlerRW, AttrR, AttrRW, AttrW
 from fastcs.connections import IPConnection, IPConnectionSettings
-from fastcs.controller import BaseController, Controller, SubController
+from fastcs.controller import BaseController, Controller
 from fastcs.datatypes import Enum, Float, Int, String
 from fastcs.launch import FastCS
 from fastcs.transport.epics.ca.options import EpicsCAOptions
@@ -52,7 +52,7 @@ class OnOffEnum(enum.StrEnum):
     On = "1"
 
 
-class TemperatureRampController(SubController):
+class TemperatureRampController(Controller):
     start = AttrRW(Int(), handler=TemperatureControllerHandler("S"))
     end = AttrRW(Int(), handler=TemperatureControllerHandler("E"))
     enabled = AttrRW(Enum(OnOffEnum), handler=TemperatureControllerHandler("N"))
diff --git a/docs/snippets/static13.py b/docs/snippets/static13.py
index 74e2e1a64..aa5abaef2 100644
--- a/docs/snippets/static13.py
+++ b/docs/snippets/static13.py
@@ -9,7 +9,7 @@
 
 from fastcs.attributes import AttrHandlerRW, AttrR, AttrRW, AttrW
 from fastcs.connections import IPConnection, IPConnectionSettings
-from fastcs.controller import BaseController, Controller, SubController
+from fastcs.controller import BaseController, Controller
 from fastcs.datatypes import Enum, Float, Int, String
 from fastcs.launch import FastCS
 from fastcs.transport.epics.ca.options import EpicsCAOptions
@@ -53,7 +53,7 @@ class OnOffEnum(enum.StrEnum):
     On = "1"
 
 
-class TemperatureRampController(SubController):
+class TemperatureRampController(Controller):
     start = AttrRW(Int(), handler=TemperatureControllerHandler("S"))
     end = AttrRW(Int(), handler=TemperatureControllerHandler("E"))
     enabled = AttrRW(Enum(OnOffEnum), handler=TemperatureControllerHandler("N"))
diff --git a/pyproject.toml b/pyproject.toml
index 53cbec9f8..cb2d5a40f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -29,7 +29,7 @@ requires-python = ">=3.11"
 demo = ["tickit~=0.4.3"]
 epicsca = ["pvi~=0.11.0", "softioc>=4.5.0"]
 epicspva = ["p4p", "pvi~=0.11.0"]
-epics = ["fastcs[epicsca]", "fastcs[epicspca]"]
+epics = ["fastcs[epicsca]", "fastcs[epicspva]"]
 tango = ["pytango"]
 graphql = ["strawberry-graphql", "uvicorn[standard]>=0.12.0"]
 rest = ["fastapi[standard]", "numpy", "uvicorn[standard]>=0.12.0"]
diff --git a/src/fastcs/controller.py b/src/fastcs/controller.py
index c01380003..d74b3c1d8 100755
--- a/src/fastcs/controller.py
+++ b/src/fastcs/controller.py
@@ -26,7 +26,7 @@ def __init__(
         if not hasattr(self, "attributes"):
             self.attributes = {}
         self._path: list[str] = path or []
-        self.__sub_controller_tree: dict[str, SubController] = {}
+        self.__sub_controller_tree: dict[str, Controller] = {}
 
         self._bind_attrs()
 
@@ -51,7 +51,7 @@ def path(self) -> list[str]:
 
     def set_path(self, path: list[str]):
         if self._path:
-            raise ValueError(f"SubController is already registered under {self.path}")
+            raise ValueError(f"sub controller is already registered under {self.path}")
 
         self._path = path
 
@@ -98,10 +98,10 @@ class method and a controller instance, so that it can be called from any
             elif isinstance(attr, UnboundPut | UnboundScan | UnboundCommand):
                 setattr(self, attr_name, attr.bind(self))
 
-    def register_sub_controller(self, name: str, sub_controller: SubController):
+    def register_sub_controller(self, name: str, sub_controller: Controller):
         if name in self.__sub_controller_tree.keys():
             raise ValueError(
-                f"Controller {self} already has a SubController registered as {name}"
+                f"Controller {self} already has a sub controller registered as {name}"
             )
 
         self.__sub_controller_tree[name] = sub_controller
@@ -110,13 +110,13 @@ def register_sub_controller(self, name: str, sub_controller: SubController):
         if isinstance(sub_controller.root_attribute, Attribute):
             if name in self.attributes:
                 raise TypeError(
-                    f"Cannot set SubController `{name}` root attribute "
+                    f"Cannot set sub controller `{name}` root attribute "
                     f"on the parent controller `{type(self).__name__}` "
                     f"as it already has an attribute of that name."
                 )
             self.attributes[name] = sub_controller.root_attribute
 
-    def get_sub_controllers(self) -> dict[str, SubController]:
+    def get_sub_controllers(self) -> dict[str, Controller]:
         return self.__sub_controller_tree
 
 
@@ -129,21 +129,10 @@ class Controller(BaseController):
     generating a UI or creating parameters for a control system.
     """
 
+    root_attribute: Attribute | None = None
+
     def __init__(self, description: str | None = None) -> None:
         super().__init__(description=description)
 
     async def connect(self) -> None:
         pass
-
-
-class SubController(BaseController):
-    """A subordinate to a ``Controller`` for managing a subset of a device.
-
-    An instance of this class can be registered with a parent ``Controller`` to include
-    it as part of a larger device.
-    """
-
-    root_attribute: Attribute | None = None
-
-    def __init__(self, description: str | None = None) -> None:
-        super().__init__(description=description)
diff --git a/src/fastcs/controller_api.py b/src/fastcs/controller_api.py
index ac5d1af31..c5724000b 100644
--- a/src/fastcs/controller_api.py
+++ b/src/fastcs/controller_api.py
@@ -7,7 +7,7 @@
 
 @dataclass
 class ControllerAPI:
-    """Attributes, bound methods and sub APIs of a `Controller` / `SubController`"""
+    """Attributes, bound methods and sub APIs of a `Controller`"""
 
     path: list[str] = field(default_factory=list)
     """Path within controller tree (empty if this is the root)"""
diff --git a/src/fastcs/demo/controllers.py b/src/fastcs/demo/controllers.py
index 8b2c761a9..953f78980 100755
--- a/src/fastcs/demo/controllers.py
+++ b/src/fastcs/demo/controllers.py
@@ -8,7 +8,7 @@
 
 from fastcs.attributes import AttrHandlerRW, AttrR, AttrRW, AttrW
 from fastcs.connections import IPConnection, IPConnectionSettings
-from fastcs.controller import BaseController, Controller, SubController
+from fastcs.controller import BaseController, Controller
 from fastcs.datatypes import Enum, Float, Int
 from fastcs.wrappers import command, scan
 
@@ -94,7 +94,7 @@ async def update_voltages(self):
             await controller.voltage.set(float(voltages[index]))
 
 
-class TemperatureRampController(SubController):
+class TemperatureRampController(Controller):
     start = AttrRW(Int(), handler=TemperatureControllerHandler("S"))
     end = AttrRW(Int(), handler=TemperatureControllerHandler("E"))
     enabled = AttrRW(Enum(OnOffEnum), handler=TemperatureControllerHandler("N"))
diff --git a/tests/assertable_controller.py b/tests/assertable_controller.py
index 5f9aa55b4..586fa5823 100644
--- a/tests/assertable_controller.py
+++ b/tests/assertable_controller.py
@@ -6,7 +6,7 @@
 
 from fastcs.attributes import AttrHandlerR, AttrHandlerRW, AttrHandlerW, AttrR
 from fastcs.backend import build_controller_api
-from fastcs.controller import Controller, SubController
+from fastcs.controller import Controller
 from fastcs.controller_api import ControllerAPI
 from fastcs.datatypes import Int
 from fastcs.wrappers import command, scan
@@ -34,7 +34,7 @@ class TestHandler(AttrHandlerRW, TestUpdater, TestSetter):
     pass
 
 
-class TestSubController(SubController):
+class TestSubController(Controller):
     read_int: AttrR = AttrR(Int(), handler=TestUpdater())
 
 
@@ -110,7 +110,7 @@ def _assert_method(self, path: list[str], method: Literal["get", "process", ""])
         """
         queue = copy.deepcopy(path)
 
-        # Navigate to subcontroller
+        # Navigate to sub controller
         controller_api = self
         item_name = queue.pop(-1)
         for item in queue:
diff --git a/tests/example_p4p_ioc.py b/tests/example_p4p_ioc.py
index 7b75918d7..e4498cc23 100644
--- a/tests/example_p4p_ioc.py
+++ b/tests/example_p4p_ioc.py
@@ -4,7 +4,7 @@
 import numpy as np
 
 from fastcs.attributes import AttrHandlerW, AttrR, AttrRW, AttrW
-from fastcs.controller import Controller, SubController
+from fastcs.controller import Controller
 from fastcs.datatypes import Bool, Enum, Float, Int, Table, Waveform
 from fastcs.launch import FastCS
 from fastcs.transport.epics.options import (
@@ -37,7 +37,7 @@ class ParentController(Controller):
     )
 
 
-class ChildController(SubController):
+class ChildController(Controller):
     fail_on_next_e = True
     c: AttrW = AttrW(Int(), handler=SimpleAttributeSetter())
 
diff --git a/tests/example_softioc.py b/tests/example_softioc.py
index 65c33e7bb..85e8ca9f8 100644
--- a/tests/example_softioc.py
+++ b/tests/example_softioc.py
@@ -1,5 +1,5 @@
 from fastcs.attributes import AttrR, AttrRW, AttrW
-from fastcs.controller import Controller, SubController
+from fastcs.controller import Controller
 from fastcs.datatypes import Int
 from fastcs.launch import FastCS
 from fastcs.transport.epics.ca.transport import EpicsCATransport
@@ -12,7 +12,7 @@ class ParentController(Controller):
     b: AttrRW = AttrRW(Int())
 
 
-class ChildController(SubController):
+class ChildController(Controller):
     c: AttrW = AttrW(Int())
 
     @command()
diff --git a/tests/test_controller.py b/tests/test_controller.py
index b0e87fd07..d77bd1bc2 100644
--- a/tests/test_controller.py
+++ b/tests/test_controller.py
@@ -1,14 +1,14 @@
 import pytest
 
 from fastcs.attributes import AttrR
-from fastcs.controller import Controller, SubController
+from fastcs.controller import Controller
 from fastcs.datatypes import Int
 
 
 def test_controller_nesting():
     controller = Controller()
-    sub_controller = SubController()
-    sub_sub_controller = SubController()
+    sub_controller = Controller()
+    sub_sub_controller = Controller()
 
     controller.register_sub_controller("a", sub_controller)
     sub_controller.register_sub_controller("b", sub_sub_controller)
@@ -19,17 +19,17 @@ def test_controller_nesting():
     assert sub_controller.get_sub_controllers() == {"b": sub_sub_controller}
 
     with pytest.raises(
-        ValueError, match=r"Controller .* already has a SubController registered as .*"
+        ValueError, match=r"Controller .* already has a sub controller registered as .*"
     ):
-        controller.register_sub_controller("a", SubController())
+        controller.register_sub_controller("a", Controller())
 
     with pytest.raises(
-        ValueError, match=r"SubController is already registered under .*"
+        ValueError, match=r"sub controller is already registered under .*"
     ):
         controller.register_sub_controller("c", sub_controller)
 
 
-class SomeSubController(SubController):
+class SomeSubController(Controller):
     def __init__(self):
         super().__init__()
 
@@ -44,7 +44,7 @@ class SomeController(Controller):
     equal_attr = AttrR(Int())
     annotated_and_equal_attr: AttrR[int] = AttrR(Int())
 
-    def __init__(self, sub_controller: SubController):
+    def __init__(self, sub_controller: Controller):
         self.attributes = {}
 
         self.annotated_attr = AttrR(Int())
@@ -106,7 +106,7 @@ class FailingController(SomeController):
     with pytest.raises(
         TypeError,
         match=(
-            "Cannot set SubController `sub_controller` root attribute "
+            "Cannot set sub controller `sub_controller` root attribute "
             "on the parent controller `FailingController` as it already "
             "has an attribute of that name."
         ),
diff --git a/tests/transport/epics/pva/test_p4p.py b/tests/transport/epics/pva/test_p4p.py
index 7670c871f..5d470a7d8 100644
--- a/tests/transport/epics/pva/test_p4p.py
+++ b/tests/transport/epics/pva/test_p4p.py
@@ -14,7 +14,7 @@
 from p4p.nt import NTTable
 
 from fastcs.attributes import AttrR, AttrRW, AttrW
-from fastcs.controller import Controller, SubController
+from fastcs.controller import Controller
 from fastcs.datatypes import Bool, Enum, Float, Int, String, Table, Waveform
 from fastcs.launch import FastCS
 from fastcs.transport.epics.options import EpicsIOCOptions
@@ -272,11 +272,11 @@ async def _wait_and_set_attr_r():
 
 
 def test_pvi_grouping():
-    class ChildChildController(SubController):
+    class ChildChildController(Controller):
         attr_e: AttrRW = AttrRW(Int())
         attr_f: AttrR = AttrR(String())
 
-    class ChildController(SubController):
+    class ChildController(Controller):
         attr_c: AttrW = AttrW(Bool(), description="Some bool")
         attr_d: AttrW = AttrW(String())