diff --git a/tests/node/test_wakunode_peer_exchange.nim b/tests/node/test_wakunode_peer_exchange.nim
index 6da8d3fa30..edb262b0ed 100644
--- a/tests/node/test_wakunode_peer_exchange.nim
+++ b/tests/node/test_wakunode_peer_exchange.nim
@@ -272,7 +272,7 @@ suite "Waku Peer Exchange with discv5":
 
     # node2 can be connected, so will be returned by peer exchange
     require (
-      await node1.peerManager.connectRelay(node2.switch.peerInfo.toRemotePeerInfo())
+      await node1.peerManager.connectPeer(node2.switch.peerInfo.toRemotePeerInfo())
     )
 
     # Mount peer exchange
diff --git a/tests/test_peer_manager.nim b/tests/test_peer_manager.nim
index bcc3821cab..8e006848df 100644
--- a/tests/test_peer_manager.nim
+++ b/tests/test_peer_manager.nim
@@ -37,7 +37,7 @@ import
   ./testlib/wakunode
 
 procSuite "Peer Manager":
-  asyncTest "connectRelay() works":
+  asyncTest "connectPeer() works":
     # Create 2 nodes
     let nodes = toSeq(0 ..< 2).mapIt(
         newTestWakuNode(generateSecp256k1Key(), ValidIpAddress.init("0.0.0.0"), Port(0))
@@ -45,7 +45,7 @@ procSuite "Peer Manager":
     await allFutures(nodes.mapIt(it.start()))
 
     let connOk =
-      await nodes[0].peerManager.connectRelay(nodes[1].peerInfo.toRemotePeerInfo())
+      await nodes[0].peerManager.connectPeer(nodes[1].peerInfo.toRemotePeerInfo())
     await sleepAsync(chronos.milliseconds(500))
 
     check:
@@ -178,7 +178,7 @@ procSuite "Peer Manager":
 
     let nonExistentPeer = nonExistentPeerRes.value
     require:
-      (await nodes[0].peerManager.connectRelay(nonExistentPeer)) == false
+      (await nodes[0].peerManager.connectPeer(nonExistentPeer)) == false
     await sleepAsync(chronos.milliseconds(500))
 
     check:
@@ -188,7 +188,7 @@ procSuite "Peer Manager":
 
     # Successful connection
     require:
-      (await nodes[0].peerManager.connectRelay(nodes[1].peerInfo.toRemotePeerInfo())) ==
+      (await nodes[0].peerManager.connectPeer(nodes[1].peerInfo.toRemotePeerInfo())) ==
         true
     await sleepAsync(chronos.milliseconds(500))
 
@@ -229,7 +229,7 @@ procSuite "Peer Manager":
     nodes[0].peerManager.backoffFactor = 2
 
     # try to connect to peer that doesnt exist
-    let conn1Ok = await nodes[0].peerManager.connectRelay(nonExistentPeer)
+    let conn1Ok = await nodes[0].peerManager.connectPeer(nonExistentPeer)
     check:
       # Cannot connect to node2
       nodes[0].peerManager.wakuPeerStore.connectedness(nonExistentPeer.peerId) ==
@@ -256,7 +256,7 @@ procSuite "Peer Manager":
     nodes[0].peerManager.wakuPeerStore[NumberFailedConnBook][nodes[1].peerInfo.peerId] =
       4
     let conn2Ok =
-      await nodes[0].peerManager.connectRelay(nodes[1].peerInfo.toRemotePeerInfo())
+      await nodes[0].peerManager.connectPeer(nodes[1].peerInfo.toRemotePeerInfo())
     check:
       conn2Ok == true
       nodes[0].peerManager.wakuPeerStore[NumberFailedConnBook][nodes[1].peerInfo.peerId] ==
@@ -286,7 +286,7 @@ procSuite "Peer Manager":
     var remotePeerInfo2 = peerInfo2.toRemotePeerInfo()
     remotePeerInfo2.enr = some(node2.enr)
 
-    let is12Connected = await node1.peerManager.connectRelay(remotePeerInfo2)
+    let is12Connected = await node1.peerManager.connectPeer(remotePeerInfo2)
     assert is12Connected == true, "Node 1 and 2 not connected"
 
     check:
@@ -356,7 +356,7 @@ procSuite "Peer Manager":
     var remotePeerInfo2 = peerInfo2.toRemotePeerInfo()
     remotePeerInfo2.enr = some(node2.enr)
 
-    let is12Connected = await node1.peerManager.connectRelay(remotePeerInfo2)
+    let is12Connected = await node1.peerManager.connectPeer(remotePeerInfo2)
     assert is12Connected == true, "Node 1 and 2 not connected"
 
     check:
@@ -485,7 +485,7 @@ procSuite "Peer Manager":
     node2.wakuRelay.codec = betaCodec
 
     require:
-      (await node1.peerManager.connectRelay(peerInfo2.toRemotePeerInfo())) == true
+      (await node1.peerManager.connectPeer(peerInfo2.toRemotePeerInfo())) == true
     check:
       # Currently connected to node2
       node1.peerManager.wakuPeerStore.peers().len == 1
@@ -682,9 +682,9 @@ procSuite "Peer Manager":
 
     # all nodes connect to peer 0
     require:
-      (await nodes[1].peerManager.connectRelay(peerInfos[0])) == true
-      (await nodes[2].peerManager.connectRelay(peerInfos[0])) == true
-      (await nodes[3].peerManager.connectRelay(peerInfos[0])) == true
+      (await nodes[1].peerManager.connectPeer(peerInfos[0])) == true
+      (await nodes[2].peerManager.connectPeer(peerInfos[0])) == true
+      (await nodes[3].peerManager.connectPeer(peerInfos[0])) == true
 
     await sleepAsync(chronos.milliseconds(500))
 
@@ -810,9 +810,9 @@ procSuite "Peer Manager":
     # create some connections/streams
     check:
       # some relay connections
-      (await nodes[0].peerManager.connectRelay(pInfos[1])) == true
-      (await nodes[0].peerManager.connectRelay(pInfos[2])) == true
-      (await nodes[1].peerManager.connectRelay(pInfos[2])) == true
+      (await nodes[0].peerManager.connectPeer(pInfos[1])) == true
+      (await nodes[0].peerManager.connectPeer(pInfos[2])) == true
+      (await nodes[1].peerManager.connectPeer(pInfos[2])) == true
 
       (await nodes[0].peerManager.dialPeer(pInfos[1], WakuFilterSubscribeCodec)).isSome() ==
         true
@@ -1129,16 +1129,16 @@ procSuite "Peer Manager":
     nodes[0].peerManager.colocationLimit = 1
 
     # 2 in connections
-    discard await nodes[1].peerManager.connectRelay(pInfos[0])
-    discard await nodes[2].peerManager.connectRelay(pInfos[0])
+    discard await nodes[1].peerManager.connectPeer(pInfos[0])
+    discard await nodes[2].peerManager.connectPeer(pInfos[0])
     await sleepAsync(chronos.milliseconds(500))
 
     # but one is pruned
     check nodes[0].peerManager.switch.connManager.getConnections().len == 1
 
     # 2 out connections
-    discard await nodes[0].peerManager.connectRelay(pInfos[3])
-    discard await nodes[0].peerManager.connectRelay(pInfos[4])
+    discard await nodes[0].peerManager.connectPeer(pInfos[3])
+    discard await nodes[0].peerManager.connectPeer(pInfos[4])
     await sleepAsync(chronos.milliseconds(500))
 
     # they are also prunned
diff --git a/tests/test_wakunode.nim b/tests/test_wakunode.nim
index dbb2d5d8db..b148684fe0 100644
--- a/tests/test_wakunode.nim
+++ b/tests/test_wakunode.nim
@@ -138,10 +138,10 @@ suite "WakuNode":
     await node3.mountRelay()
 
     discard
-      await node1.peerManager.connectRelay(node2.switch.peerInfo.toRemotePeerInfo())
+      await node1.peerManager.connectPeer(node2.switch.peerInfo.toRemotePeerInfo())
     await sleepAsync(3.seconds)
     discard
-      await node1.peerManager.connectRelay(node3.switch.peerInfo.toRemotePeerInfo())
+      await node1.peerManager.connectPeer(node3.switch.peerInfo.toRemotePeerInfo())
 
     check:
       # Verify that only the first connection succeeded
diff --git a/tests/waku_peer_exchange/test_protocol.nim b/tests/waku_peer_exchange/test_protocol.nim
index 6c044586a4..11a61c4dc3 100644
--- a/tests/waku_peer_exchange/test_protocol.nim
+++ b/tests/waku_peer_exchange/test_protocol.nim
@@ -120,7 +120,7 @@ suite "Waku Peer Exchange":
 
       # node2 can be connected, so will be returned by peer exchange
       require (
-        await node1.peerManager.connectRelay(node2.switch.peerInfo.toRemotePeerInfo())
+        await node1.peerManager.connectPeer(node2.switch.peerInfo.toRemotePeerInfo())
       )
 
       # Mount peer exchange
diff --git a/tests/waku_relay/test_protocol.nim b/tests/waku_relay/test_protocol.nim
index 871cfb28d5..399b55ea88 100644
--- a/tests/waku_relay/test_protocol.nim
+++ b/tests/waku_relay/test_protocol.nim
@@ -104,7 +104,7 @@ suite "Waku Relay":
 
       await allFutures(otherSwitch.start(), otherNode.start())
       let otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       var otherHandlerFuture = newPushHandlerFuture()
       proc otherSimpleFutureHandler(
@@ -165,7 +165,7 @@ suite "Waku Relay":
 
       await allFutures(otherSwitch.start(), otherNode.start())
       let otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       var otherHandlerFuture = newPushHandlerFuture()
       proc otherSimpleFutureHandler(
@@ -284,7 +284,7 @@ suite "Waku Relay":
 
       await allFutures(otherSwitch.start(), otherNode.start())
       let otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       var otherHandlerFuture = newPushHandlerFuture()
       proc otherSimpleFutureHandler(
@@ -374,7 +374,7 @@ suite "Waku Relay":
 
       await allFutures(otherSwitch.start(), otherNode.start())
       let otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       var otherHandlerFuture = newPushHandlerFuture()
       proc otherSimpleFutureHandler(
@@ -456,8 +456,8 @@ suite "Waku Relay":
         anotherPeerId = anotherRemotePeerInfo.peerId
 
       check:
-        await peerManager.connectRelay(otherRemotePeerInfo)
-        await peerManager.connectRelay(anotherRemotePeerInfo)
+        await peerManager.connectPeer(otherRemotePeerInfo)
+        await peerManager.connectPeer(anotherRemotePeerInfo)
 
       # Given the first node is subscribed to two pubsub topics
       var handlerFuture2 = newPushHandlerFuture()
@@ -673,7 +673,7 @@ suite "Waku Relay":
         otherMsg6 == fromOtherNodeWakuMessage3
 
       # Given anotherNode is reconnected, but to otherNode
-      check await anotherPeerManager.connectRelay(otherRemotePeerInfo)
+      check await anotherPeerManager.connectPeer(otherRemotePeerInfo)
       check:
         anotherPeerManager.switch.isConnected(otherPeerId)
         otherPeerManager.switch.isConnected(anotherPeerId)
@@ -848,7 +848,7 @@ suite "Waku Relay":
 
       await allFutures(otherSwitch.start(), otherNode.start())
       let otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       # Given both are subscribed to the same pubsub topic
       var otherHandlerFuture = newPushHandlerFuture()
@@ -1014,7 +1014,7 @@ suite "Waku Relay":
 
       await allFutures(otherSwitch.start(), otherNode.start())
       let otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       # Given both are subscribed to the same pubsub topic
       var otherHandlerFuture = newPushHandlerFuture()
@@ -1145,7 +1145,7 @@ suite "Waku Relay":
 
       await allFutures(otherSwitch.start(), otherNode.start())
       let otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       # Given both are subscribed to the same pubsub topic
       # Create a different handler than the default to include messages in a seq
@@ -1230,7 +1230,7 @@ suite "Waku Relay":
         otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
         otherPeerId = otherRemotePeerInfo.peerId
 
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       # Given both are subscribed to the same pubsub topic
       var otherHandlerFuture = newPushHandlerFuture()
@@ -1250,10 +1250,10 @@ suite "Waku Relay":
       await otherSwitch.stop()
       await otherSwitch.start()
 
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
-      # FIXME: Once stopped and started, nodes are not considered connected, nor do they reconnect after running connectRelay, as below
-      # check await otherPeerManager.connectRelay(otherRemotePeerInfo)
+      # FIXME: Once stopped and started, nodes are not considered connected, nor do they reconnect after running connectPeer, as below
+      # check await otherPeerManager.connectPeer(otherRemotePeerInfo)
 
       # When sending a message from node
       let msg1 = fakeWakuMessage(testMessage, pubsubTopic)
@@ -1282,7 +1282,7 @@ suite "Waku Relay":
       # Given node is stopped and restarted
       await switch.stop()
       await switch.start()
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       # When sending a message from node
       handlerFuture = newPushHandlerFuture()
@@ -1325,7 +1325,7 @@ suite "Waku Relay":
         otherRemotePeerInfo = otherSwitch.peerInfo.toRemotePeerInfo()
         otherPeerId = otherRemotePeerInfo.peerId
 
-      check await peerManager.connectRelay(otherRemotePeerInfo)
+      check await peerManager.connectPeer(otherRemotePeerInfo)
 
       # Given both are subscribed to the same pubsub topic
       var otherHandlerFuture = newPushHandlerFuture()
diff --git a/tests/waku_relay/test_wakunode_relay.nim b/tests/waku_relay/test_wakunode_relay.nim
index b93875e831..398470163e 100644
--- a/tests/waku_relay/test_wakunode_relay.nim
+++ b/tests/waku_relay/test_wakunode_relay.nim
@@ -213,7 +213,7 @@ suite "WakuNode - Relay":
     await allFutures(nodes.mapIt(it.mountRelay()))
 
     # Connect nodes
-    let connOk = await nodes[0].peerManager.connectRelay(
+    let connOk = await nodes[0].peerManager.connectPeer(
       nodes[1].switch.peerInfo.toRemotePeerInfo()
     )
     require:
@@ -521,7 +521,7 @@ suite "WakuNode - Relay":
       for j in 0 ..< 5:
         if i == j:
           continue
-        let connOk = await nodes[i].peerManager.connectRelay(
+        let connOk = await nodes[i].peerManager.connectPeer(
           nodes[j].switch.peerInfo.toRemotePeerInfo()
         )
         require connOk
diff --git a/tests/wakunode2/test_validators.nim b/tests/wakunode2/test_validators.nim
index 058d2bedf4..03bc9c99dd 100644
--- a/tests/wakunode2/test_validators.nim
+++ b/tests/wakunode2/test_validators.nim
@@ -60,7 +60,7 @@ suite "WakuNode2 - Validators":
       for j in 0 ..< 5:
         if i == j:
           continue
-        let connOk = await nodes[i].peerManager.connectRelay(
+        let connOk = await nodes[i].peerManager.connectPeer(
           nodes[j].switch.peerInfo.toRemotePeerInfo()
         )
         require connOk
@@ -150,7 +150,7 @@ suite "WakuNode2 - Validators":
       for j in 0 ..< 5:
         if i == j:
           continue
-        let connOk = await nodes[i].peerManager.connectRelay(
+        let connOk = await nodes[i].peerManager.connectPeer(
           nodes[j].switch.peerInfo.toRemotePeerInfo()
         )
         require connOk
@@ -305,7 +305,7 @@ suite "WakuNode2 - Validators":
       )
 
     # nodes[0] is connected only to nodes[1]
-    let connOk1 = await nodes[0].peerManager.connectRelay(
+    let connOk1 = await nodes[0].peerManager.connectPeer(
       nodes[1].switch.peerInfo.toRemotePeerInfo()
     )
     require connOk1
@@ -315,7 +315,7 @@ suite "WakuNode2 - Validators":
       for j in 1 ..< 5:
         if i == j:
           continue
-        let connOk2 = await nodes[i].peerManager.connectRelay(
+        let connOk2 = await nodes[i].peerManager.connectPeer(
           nodes[j].switch.peerInfo.toRemotePeerInfo()
         )
         require connOk2
diff --git a/tests/wakunode_rest/test_rest_admin.nim b/tests/wakunode_rest/test_rest_admin.nim
index 51d1133957..fdb0cbc41d 100644
--- a/tests/wakunode_rest/test_rest_admin.nim
+++ b/tests/wakunode_rest/test_rest_admin.nim
@@ -184,8 +184,8 @@ suite "Waku v2 Rest API - Admin":
     node1.peerManager.addPeer(peerInfo3, PeerExchange)
 
     # Connecting to both peers
-    let conn2 = await node1.peerManager.connectRelay(peerInfo2)
-    let conn3 = await node1.peerManager.connectRelay(peerInfo3)
+    let conn2 = await node1.peerManager.connectPeer(peerInfo2)
+    let conn3 = await node1.peerManager.connectPeer(peerInfo3)
 
     # Check successful connections
     check:
diff --git a/waku/factory/node_factory.nim b/waku/factory/node_factory.nim
index 0caa50259c..d4ac364f31 100644
--- a/waku/factory/node_factory.nim
+++ b/waku/factory/node_factory.nim
@@ -402,18 +402,12 @@ proc startNode*(
 
   # Connect to configured static nodes
   if conf.staticnodes.len > 0:
-    if not conf.relay:
-      return err("waku relay (--relay=true) should be set when configuring staticnodes")
     try:
       await connectToNodes(node, conf.staticnodes, "static")
     except CatchableError:
       return err("failed to connect to static nodes: " & getCurrentExceptionMsg())
 
   if dynamicBootstrapNodes.len > 0:
-    if not conf.relay:
-      return err(
-        "waku relay (--relay=true) should be set when configuring dynamicBootstrapNodes"
-      )
     info "Connecting to dynamic bootstrap peers"
     try:
       await connectToNodes(node, dynamicBootstrapNodes, "dynamic bootstrap")
diff --git a/waku/node/peer_manager/peer_manager.nim b/waku/node/peer_manager/peer_manager.nim
index cf633bb13d..e17e9fd0d1 100644
--- a/waku/node/peer_manager/peer_manager.nim
+++ b/waku/node/peer_manager/peer_manager.nim
@@ -279,7 +279,7 @@ proc pruneInRelayConns(pm: PeerManager, amount: int) {.async.}
 # Connects to a given node. Note that this function uses `connect` and
 # does not provide a protocol. Streams for relay (gossipsub) are created
 # automatically without the needing to dial.
-proc connectRelay*(
+proc connectPeer*(
     pm: PeerManager,
     peer: RemotePeerInfo,
     dialTimeout = DefaultDialTimeout,
@@ -291,11 +291,11 @@ proc connectRelay*(
   if peerId == pm.switch.peerInfo.peerId:
     return false
 
-  if not pm.wakuPeerStore.hasPeer(peerId, WakuRelayCodec):
+  if not pm.wakuPeerStore.peerExists(peerId):
     pm.addPeer(peer)
 
   let failedAttempts = pm.wakuPeerStore[NumberFailedConnBook][peerId]
-  trace "Connecting to relay peer",
+  trace "Connecting to peer",
     wireAddr = peer.addrs, peerId = peerId, failedAttempts = failedAttempts
 
   var deadline = sleepAsync(dialTimeout)
@@ -328,7 +328,7 @@ proc connectRelay*(
   pm.wakuPeerStore[LastFailedConnBook][peerId] = Moment.init(getTime().toUnix, Second)
   pm.wakuPeerStore[ConnectionBook][peerId] = CannotConnect
 
-  trace "Connecting relay peer failed",
+  trace "Connecting peer failed",
     peerId = peerId,
     reason = reasonFailed,
     failedAttempts = pm.wakuPeerStore[NumberFailedConnBook][peerId]
@@ -352,7 +352,7 @@ proc connectToNodes*(
   for node in nodes:
     let node = parsePeerInfo(node)
     if node.isOk():
-      futConns.add(pm.connectRelay(node.value))
+      futConns.add(pm.connectPeer(node.value))
       connectedPeers.add(node.value)
     else:
       error "Couldn't parse node info", error = node.error
diff --git a/waku/waku_api/rest/admin/handlers.nim b/waku/waku_api/rest/admin/handlers.nim
index ebdcc8ef63..b35ac6eae8 100644
--- a/waku/waku_api/rest/admin/handlers.nim
+++ b/waku/waku_api/rest/admin/handlers.nim
@@ -140,7 +140,7 @@ proc installAdminV1PostPeersHandler(router: var RestRouter, node: WakuNode) =
         let e = $error
         return RestApiResponse.badRequest(fmt("Couldn't parse remote peer info: {e}"))
 
-      if not (await node.peerManager.connectRelay(peerInfo, source = "rest")):
+      if not (await node.peerManager.connectPeer(peerInfo, source = "rest")):
         return RestApiResponse.badRequest(
           fmt("Failed to connect to peer at index: {i} - {peer}")
         )