diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizer.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizer.java
index f8c89fe9f79..b87b702bfdd 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizer.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizer.java
@@ -38,7 +38,7 @@ public class UndertowServletWebServerFactoryCustomizer
 
 	@Override
 	public void customize(UndertowServletWebServerFactory factory) {
-		factory.setEagerInitFilters(this.serverProperties.getUndertow().isEagerFilterInit());
+		factory.setEagerFilterInit(this.serverProperties.getUndertow().isEagerFilterInit());
 		factory.setPreservePathOnForward(this.serverProperties.getUndertow().isPreservePathOnForward());
 	}
 
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizerTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizerTests.java
index 9a34c4f46a0..00588675a00 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizerTests.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizerTests.java
@@ -33,11 +33,11 @@ class UndertowServletWebServerFactoryCustomizerTests {
 	@Test
 	void eagerFilterInitCanBeDisabled() {
 		UndertowServletWebServerFactory factory = new UndertowServletWebServerFactory(0);
-		assertThat(factory.isEagerInitFilters()).isTrue();
+		assertThat(factory.isEagerFilterInit()).isTrue();
 		ServerProperties serverProperties = new ServerProperties();
 		serverProperties.getUndertow().setEagerFilterInit(false);
 		new UndertowServletWebServerFactoryCustomizer(serverProperties).customize(factory);
-		assertThat(factory.isEagerInitFilters()).isFalse();
+		assertThat(factory.isEagerFilterInit()).isFalse();
 	}
 
 	@Test
diff --git a/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/embedded/undertow/UndertowServletWebServerFactory.java b/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/embedded/undertow/UndertowServletWebServerFactory.java
index 42f9f0ce270..852af139d2e 100644
--- a/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/embedded/undertow/UndertowServletWebServerFactory.java
+++ b/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/embedded/undertow/UndertowServletWebServerFactory.java
@@ -91,7 +91,7 @@ public class UndertowServletWebServerFactory extends AbstractServletWebServerFac
 
 	private ResourceLoader resourceLoader;
 
-	private boolean eagerInitFilters = true;
+	private boolean eagerFilterInit = true;
 
 	private boolean preservePathOnForward = false;
 
@@ -248,9 +248,11 @@ public class UndertowServletWebServerFactory extends AbstractServletWebServerFac
 	 * Return if filters should be initialized eagerly.
 	 * @return {@code true} if filters are initialized eagerly, otherwise {@code false}.
 	 * @since 2.0.0
+	 * @deprecated since 2.4.0 in favor of #isEagerFilterInit
 	 */
+	@Deprecated
 	public boolean isEagerInitFilters() {
-		return this.eagerInitFilters;
+		return this.eagerFilterInit;
 	}
 
 	/**
@@ -258,9 +260,30 @@ public class UndertowServletWebServerFactory extends AbstractServletWebServerFac
 	 * @param eagerInitFilters {@code true} if filters are initialized eagerly, otherwise
 	 * {@code false}.
 	 * @since 2.0.0
+	 * @deprecated since 2.4.0 in favor of #isEagerFilterInit
 	 */
+	@Deprecated
 	public void setEagerInitFilters(boolean eagerInitFilters) {
-		this.eagerInitFilters = eagerInitFilters;
+		this.eagerFilterInit = eagerInitFilters;
+	}
+
+	/**
+	 * Return if filters should be eagerly initialized.
+	 * @return {@code true} if filters are eagerly initialized, otherwise {@code false}.
+	 * @since 2.4.0
+	 */
+	public boolean isEagerFilterInit() {
+		return this.eagerFilterInit;
+	}
+
+	/**
+	 * Set whether filters should be eagerly initialized.
+	 * @param eagerFilterInit {@code true} if filters are eagerly initialized, otherwise
+	 * {@code false}.
+	 * @since 2.4.0
+	 */
+	public void setEagerFilterInit(boolean eagerFilterInit) {
+		this.eagerFilterInit = eagerFilterInit;
 	}
 
 	/**
@@ -304,7 +327,7 @@ public class UndertowServletWebServerFactory extends AbstractServletWebServerFac
 		deployment.setServletStackTraces(ServletStackTraces.NONE);
 		deployment.setResourceManager(getDocumentRootResourceManager());
 		deployment.setTempDir(createTempDir("undertow"));
-		deployment.setEagerFilterInit(this.eagerInitFilters);
+		deployment.setEagerFilterInit(this.eagerFilterInit);
 		deployment.setPreservePathOnForward(this.preservePathOnForward);
 		configureMimeMappings(deployment);
 		for (UndertowDeploymentInfoCustomizer customizer : this.deploymentInfoCustomizers) {