diff --git a/include/mbedtls/mbedtls_config.h b/include/mbedtls/mbedtls_config.h
index ebc9276d20..3300f5f86c 100644
--- a/include/mbedtls/mbedtls_config.h
+++ b/include/mbedtls/mbedtls_config.h
@@ -1807,6 +1807,11 @@
  *       running handshake hash) only use PSA crypto if
  *       #MBEDTLS_USE_PSA_CRYPTO is enabled.
  *
+ * \note In multithreaded applications, you must also enable
+ *       #MBEDTLS_THREADING_C, even if individual TLS contexts are not
+ *       shared between threads, unless only one thread ever calls
+ *       TLS functions.
+ *
  * Uncomment this macro to enable the support for TLS 1.3.
  */
 #define MBEDTLS_SSL_PROTO_TLS1_3
@@ -2134,6 +2139,10 @@
  *
  * \note See docs/use-psa-crypto.md for a complete description this option.
  *
+ * \note In multithreaded applications, you must also enable
+ *       #MBEDTLS_THREADING_C, unless only one thread ever calls
+ *       `psa_xxx()`, PK, X.509 or TLS functions.
+ *
  * Requires: MBEDTLS_PSA_CRYPTO_C.
  *
  * Uncomment this to enable internal use of PSA Crypto and new associated APIs.
@@ -3211,7 +3220,10 @@
 /**
  * \def MBEDTLS_PSA_CRYPTO_C
  *
- * Enable the Platform Security Architecture cryptography API.
+ * Enable the Platform Security Architecture (PSA) cryptography API.
+ *
+ * \note In multithreaded applications, you must enable #MBEDTLS_THREADING_C,
+ *       unless only one thread ever calls `psa_xxx()` functions.
  *
  * Module:  library/psa_crypto.c
  *
@@ -3631,10 +3643,33 @@
  * \def MBEDTLS_THREADING_C
  *
  * Enable the threading abstraction layer.
- * By default Mbed TLS assumes it is used in a non-threaded environment or that
- * contexts are not shared between threads. If you do intend to use contexts
+ *
+ * Traditionally, Mbed TLS assumes it is used in a non-threaded environment or
+ * that contexts are not shared between threads. If you do intend to use contexts
  * between threads, you will need to enable this layer to prevent race
- * conditions. See also our Knowledge Base article about threading:
+ * conditions.
+ *
+ * The PSA subsystem has an implicit shared context. Therefore, you must
+ * enable this option if more than one thread may use any part of
+ * Mbed TLS that is implemented on top of the PSA subsystem.
+ *
+ * You must enable this option in multithreaded applications where more than
+ * one thread performs any of the following operations:
+ *
+ * - Any call to a PSA function (`psa_xxx()`).
+ * - Any call to a TLS, X.509 or PK function (`mbedtls_ssl_xxx()`,
+ *   `mbedtls_x509_xxx()`, `mbedtls_pkcs7_xxx()`, `mbedtls_pk_xxx()`)
+ *   if `MBEDTLS_USE_PSA_CRYPTO` is enabled (regardless of whether individual
+ *   TLS, X.509 or PK contexts are shared between threads).
+ * - A TLS 1.3 connection, regardless of the compile-time configuration.
+ * - Any library feature that calculates a hash, except for algorithm-specific
+ *   low-level modules, if `MBEDTLS_MD_C` is disabled.
+ * - Any library feature that calculates a hash, except for algorithm-specific
+ *   low-level modules, if `MBEDTLS_CIPHER_C` is disabled.
+ * - Any use of a cryptographic context if the same context is used in
+ *   multiple threads.
+ *
+ * See also our Knowledge Base article about threading:
  * https://mbed-tls.readthedocs.io/en/latest/kb/development/thread-safety-and-multi-threading
  *
  * Module:  library/threading.c