diff --git a/UPGRADE-5.4.md b/UPGRADE-5.4.md
index 50ff0b1647c57..14b3c9a01a60a 100644
--- a/UPGRADE-5.4.md
+++ b/UPGRADE-5.4.md
@@ -6,6 +6,11 @@ Cache
 
  * Deprecate `DoctrineProvider` because this class has been added to the `doctrine/cache` package`
 
+Console
+-------
+
+ * Deprecate `HelperSet::setCommand()` and `getCommand()` without replacement
+
 Finder
 ------
 
diff --git a/UPGRADE-6.0.md b/UPGRADE-6.0.md
index 44c357d1f5f5b..75566cc34beb6 100644
--- a/UPGRADE-6.0.md
+++ b/UPGRADE-6.0.md
@@ -30,6 +30,7 @@ Console
  * `Command::setHidden()` has a default value (`true`) for `$hidden` parameter
  * Remove `Helper::strlen()`, use `Helper::width()` instead.
  * Remove `Helper::strlenWithoutDecoration()`, use `Helper::removeDecoration()` instead.
+ * Remove `HelperSet::setCommand()` and `getCommand()` without replacement
 
 DependencyInjection
 -------------------
diff --git a/src/Symfony/Component/Console/CHANGELOG.md b/src/Symfony/Component/Console/CHANGELOG.md
index c8180dcc7911c..fedb08823e15b 100644
--- a/src/Symfony/Component/Console/CHANGELOG.md
+++ b/src/Symfony/Component/Console/CHANGELOG.md
@@ -5,6 +5,7 @@ CHANGELOG
 ---
 
  * Add `TesterTrait::assertCommandIsSuccessful()` to test command
+ * Deprecate `HelperSet::setCommand()` and `getCommand()` without replacement
 
 5.3
 ---
diff --git a/src/Symfony/Component/Console/Helper/HelperSet.php b/src/Symfony/Component/Console/Helper/HelperSet.php
index c9d1488f3445b..be806ed9c9927 100644
--- a/src/Symfony/Component/Console/Helper/HelperSet.php
+++ b/src/Symfony/Component/Console/Helper/HelperSet.php
@@ -73,8 +73,13 @@ public function get(string $name)
         return $this->helpers[$name];
     }
 
+    /**
+     * @deprecated since Symfony 5.4
+     */
     public function setCommand(Command $command = null)
     {
+        trigger_deprecation('symfony/console', '5.4', 'Method "%s()" is deprecated.', __METHOD__);
+
         $this->command = $command;
     }
 
@@ -82,9 +87,13 @@ public function setCommand(Command $command = null)
      * Gets the command associated with this helper set.
      *
      * @return Command
+     *
+     * @deprecated since Symfony 5.4
      */
     public function getCommand()
     {
+        trigger_deprecation('symfony/console', '5.4', 'Method "%s()" is deprecated.', __METHOD__);
+
         return $this->command;
     }
 
diff --git a/src/Symfony/Component/Console/Tests/Helper/HelperSetTest.php b/src/Symfony/Component/Console/Tests/Helper/HelperSetTest.php
index 38cfc27a194ba..78d22939cd536 100644
--- a/src/Symfony/Component/Console/Tests/Helper/HelperSetTest.php
+++ b/src/Symfony/Component/Console/Tests/Helper/HelperSetTest.php
@@ -74,6 +74,9 @@ public function testGet()
         }
     }
 
+    /**
+     * @group legacy
+     */
     public function testSetCommand()
     {
         $cmd_01 = new Command('foo');
@@ -89,6 +92,9 @@ public function testSetCommand()
         $this->assertEquals($cmd_02, $helperset->getCommand(), '->setCommand() overwrites stored command with consecutive calls');
     }
 
+    /**
+     * @group legacy
+     */
     public function testGetCommand()
     {
         $cmd = new Command('foo');