diff --git a/extra_script.py b/extra_script.py
index c454607cc..391eb8047 100644
--- a/extra_script.py
+++ b/extra_script.py
@@ -28,7 +28,7 @@
                   "-<system/mbed/>",
                   "-<system/unix/>",
                   "-<system/windows/>"]
-    CPPDEFINES = ["ZENOH_ZEPHYR", "ZENOH_PIO"]
+    CPPDEFINES = ["ZENOH_ZEPHYR"]
 
 elif FRAMEWORK == 'arduino':
     PLATFORM = env.get("PIOPLATFORM")
diff --git a/include/zenoh-pico/system/platform/zephyr.h b/include/zenoh-pico/system/platform/zephyr.h
index ca3924e11..4b318c9d9 100644
--- a/include/zenoh-pico/system/platform/zephyr.h
+++ b/include/zenoh-pico/system/platform/zephyr.h
@@ -15,9 +15,14 @@
 #ifndef ZENOH_PICO_SYSTEM_ZEPHYR_TYPES_H
 #define ZENOH_PICO_SYSTEM_ZEPHYR_TYPES_H
 
-#if defined(ZENOH_PIO)
+#include <version.h>
+
+#if KERNEL_VERSION_MAJOR == 2
 #include <kernel.h>
+#elif KERNEL_VERSION_MAJOR == 3
+#include <zephyr/kernel.h>
 #else
+#pragma "This Zephyr version might not be supported."
 #include <zephyr/kernel.h>
 #endif
 
diff --git a/src/system/zephyr/network.c b/src/system/zephyr/network.c
index 0f34432d8..f0842dc08 100644
--- a/src/system/zephyr/network.c
+++ b/src/system/zephyr/network.c
@@ -12,7 +12,9 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-#if defined(ZENOH_PIO)
+#include <version.h>
+
+#if KERNEL_VERSION_MAJOR == 2
 #include <drivers/uart.h>
 #else
 #include <zephyr/drivers/uart.h>
@@ -404,14 +406,22 @@ int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpo
                     if (!mcast) {
                         ret = _Z_ERR_GENERIC;
                     }
+#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3
+                    net_if_ipv4_maddr_join(ifa, mcast);
+#else
                     net_if_ipv4_maddr_join(mcast);
+#endif
                 } else if (rep._iptcp->ai_family == AF_INET6) {
                     struct net_if_mcast_addr *mcast = NULL;
                     mcast = net_if_ipv6_maddr_add(ifa, &((struct sockaddr_in6 *)rep._iptcp->ai_addr)->sin6_addr);
                     if (!mcast) {
                         ret = _Z_ERR_GENERIC;
                     }
+#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3
+                    net_if_ipv6_maddr_join(ifa, mcast);
+#else
                     net_if_ipv6_maddr_join(mcast);
+#endif
                 } else {
                     ret = _Z_ERR_GENERIC;
                 }
@@ -439,7 +449,11 @@ void _z_close_udp_multicast(_z_sys_net_socket_t *sockrecv, _z_sys_net_socket_t *
         if (rep._iptcp->ai_family == AF_INET) {
             mcast = net_if_ipv4_maddr_add(ifa, &((struct sockaddr_in *)rep._iptcp->ai_addr)->sin_addr);
             if (mcast != NULL) {
+#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3
+                net_if_ipv4_maddr_leave(ifa, mcast);
+#else
                 net_if_ipv4_maddr_leave(mcast);
+#endif
                 net_if_ipv4_maddr_rm(ifa, &((struct sockaddr_in *)rep._iptcp->ai_addr)->sin_addr);
             } else {
                 // Do nothing. The socket will be closed in any case.
@@ -447,7 +461,11 @@ void _z_close_udp_multicast(_z_sys_net_socket_t *sockrecv, _z_sys_net_socket_t *
         } else if (rep._iptcp->ai_family == AF_INET6) {
             mcast = net_if_ipv6_maddr_add(ifa, &((struct sockaddr_in6 *)rep._iptcp->ai_addr)->sin6_addr);
             if (mcast != NULL) {
+#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3
+                net_if_ipv6_maddr_leave(ifa, mcast);
+#else
                 net_if_ipv6_maddr_leave(mcast);
+#endif
                 net_if_ipv6_maddr_rm(ifa, &((struct sockaddr_in6 *)rep._iptcp->ai_addr)->sin6_addr);
             } else {
                 // Do nothing. The socket will be closed in any case.
@@ -531,7 +549,7 @@ size_t _z_send_udp_multicast(const _z_sys_net_socket_t sock, const uint8_t *ptr,
                              _z_sys_net_endpoint_t rep) {
     return sendto(sock._fd, ptr, len, 0, rep._iptcp->ai_addr, rep._iptcp->ai_addrlen);
 }
-#endif
+#endif  // Z_LINK_UDP_MULTICAST == 1
 
 #if Z_LINK_SERIAL == 1
 int8_t _z_open_serial_from_pins(_z_sys_net_socket_t *sock, uint32_t txpin, uint32_t rxpin, uint32_t baudrate) {
diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
index 37c2333f1..2670ae9cb 100644
--- a/src/system/zephyr/system.c
+++ b/src/system/zephyr/system.c
@@ -12,11 +12,11 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-#if defined(ZENOH_PIO)
-#include <kernel.h>
+#include <version.h>
+
+#if KERNEL_VERSION_MAJOR == 2
 #include <random/rand32.h>
 #else
-#include <zephyr/kernel.h>
 #include <zephyr/random/rand32.h>
 #endif