diff --git a/src/core/api/thread_api.cpp b/src/core/api/thread_api.cpp
index 478f32c55..4d53e4c5d 100644
--- a/src/core/api/thread_api.cpp
+++ b/src/core/api/thread_api.cpp
@@ -315,7 +315,7 @@ otError otThreadGetParentInfo(otInstance *aInstance, otRouterInfo *aParentInfo)
 
     aParentInfo->mExtAddress     = parent->GetExtAddress();
     aParentInfo->mRloc16         = parent->GetRloc16();
-    aParentInfo->mRouterId       = Mle::Mle::GetRouterId(parent->GetRloc16());
+    aParentInfo->mRouterId       = Mle::Mle::RouterIdFromRloc16(parent->GetRloc16());
     aParentInfo->mNextHop        = parent->GetNextHop();
     aParentInfo->mPathCost       = parent->GetCost();
     aParentInfo->mLinkQualityIn  = parent->GetLinkInfo().GetLinkQuality();
diff --git a/src/core/thread/address_resolver.cpp b/src/core/thread/address_resolver.cpp
index 9c5486084..627878e37 100644
--- a/src/core/thread/address_resolver.cpp
+++ b/src/core/thread/address_resolver.cpp
@@ -97,7 +97,7 @@ void AddressResolver::Remove(uint8_t aRouterId)
 {
     for (int i = 0; i < kCacheEntries; i++)
     {
-        if (Mle::Mle::GetRouterId(mCache[i].mRloc16) == aRouterId)
+        if (Mle::Mle::RouterIdFromRloc16(mCache[i].mRloc16) == aRouterId)
         {
             InvalidateCacheEntry(mCache[i], kReasonRemovingRouterId);
         }
diff --git a/src/core/thread/mesh_forwarder.cpp b/src/core/thread/mesh_forwarder.cpp
index 820773425..b4691f0b9 100644
--- a/src/core/thread/mesh_forwarder.cpp
+++ b/src/core/thread/mesh_forwarder.cpp
@@ -658,12 +658,12 @@ start:
 
             if (hopsLeft != Mle::kMaxRouteCost)
             {
-                hopsLeft += mle.GetLinkCost(Mle::Mle::GetRouterId(mle.GetNextHop(aMeshDest)));
+                hopsLeft += mle.GetLinkCost(Mle::Mle::RouterIdFromRloc16(mle.GetNextHop(aMeshDest)));
             }
             else
             {
                 // In case there is no route to the destination router (only link).
-                hopsLeft = mle.GetLinkCost(Mle::Mle::GetRouterId(aMeshDest));
+                hopsLeft = mle.GetLinkCost(Mle::Mle::RouterIdFromRloc16(aMeshDest));
             }
         }
 
diff --git a/src/core/thread/mesh_forwarder_ftd.cpp b/src/core/thread/mesh_forwarder_ftd.cpp
index bf402ae14..6ea208b26 100644
--- a/src/core/thread/mesh_forwarder_ftd.cpp
+++ b/src/core/thread/mesh_forwarder_ftd.cpp
@@ -380,7 +380,7 @@ otError MeshForwarder::UpdateIp6RouteFtd(Ip6::Header &ip6Header)
     if (mle.IsRoutingLocator(ip6Header.GetDestination()))
     {
         uint16_t rloc16 = HostSwap16(ip6Header.GetDestination().mFields.m16[7]);
-        VerifyOrExit(mle.IsRouterIdValid(mle.GetRouterId(rloc16)), error = OT_ERROR_DROP);
+        VerifyOrExit(mle.IsRouterIdValid(Mle::Mle::RouterIdFromRloc16(rloc16)), error = OT_ERROR_DROP);
         mMeshDest = rloc16;
     }
     else if (mle.IsAnycastLocator(ip6Header.GetDestination()))
@@ -403,7 +403,7 @@ otError MeshForwarder::UpdateIp6RouteFtd(Ip6::Header &ip6Header)
                               static_cast<uint8_t>(aloc16 & Mle::kAloc16DhcpAgentMask), agentRloc16) == OT_ERROR_NONE),
                          error = OT_ERROR_DROP);
 
-            routerId = Mle::Mle::GetRouterId(agentRloc16);
+            routerId = Mle::Mle::RouterIdFromRloc16(agentRloc16);
 
             // if agent is active router or the child of the device
             if ((Mle::Mle::IsActiveRouter(agentRloc16)) || (Mle::Mle::Rloc16FromRouterId(routerId) == mle.GetRloc16()))
@@ -614,7 +614,8 @@ void MeshForwarder::UpdateRoutes(uint8_t *           aFrame,
     neighbor = Get<Mle::MleRouter>().GetNeighbor(ip6Header.GetSource());
     VerifyOrExit(neighbor != NULL && !neighbor->IsFullThreadDevice());
 
-    if (Mle::Mle::GetRouterId(aMeshSource.GetShort()) != Mle::Mle::GetRouterId(Get<Mac::Mac>().GetShortAddress()))
+    if (Mle::Mle::RouterIdFromRloc16(aMeshSource.GetShort()) !=
+        Mle::Mle::RouterIdFromRloc16(Get<Mac::Mac>().GetShortAddress()))
     {
         Get<Mle::MleRouter>().RemoveNeighbor(*neighbor);
     }
diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index 49bdbacc5..9eb1667d7 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -423,7 +423,7 @@ otError Mle::Restore(void)
         mParent.SetExtAddress(*static_cast<Mac::ExtAddress *>(&parentInfo.mExtAddress));
         mParent.SetDeviceMode(DeviceMode(DeviceMode::kModeFullThreadDevice | DeviceMode::kModeRxOnWhenIdle |
                                          DeviceMode::kModeFullNetworkData | DeviceMode::kModeSecureDataRequest));
-        mParent.SetRloc16(Rloc16FromRouterId(GetRouterId(networkInfo.mRloc16)));
+        mParent.SetRloc16(Rloc16FromRouterId(RouterIdFromRloc16(networkInfo.mRloc16)));
         mParent.SetState(Neighbor::kStateRestored);
 
 #if OPENTHREAD_CONFIG_MLE_INFORM_PREVIOUS_PARENT_ON_REATTACH
@@ -432,7 +432,7 @@ otError Mle::Restore(void)
     }
     else
     {
-        Get<MleRouter>().SetRouterId(GetRouterId(GetRloc16()));
+        Get<MleRouter>().SetRouterId(RouterIdFromRloc16(GetRloc16()));
         Get<MleRouter>().SetPreviousPartitionId(networkInfo.mPreviousPartitionId);
         Get<MleRouter>().RestoreChildren();
     }
@@ -3642,7 +3642,7 @@ otError Mle::HandleChildUpdateResponse(const Message &         aMessage,
         SuccessOrExit(error = Tlv::GetTlv(aMessage, Tlv::kSourceAddress, sizeof(sourceAddress), sourceAddress));
         VerifyOrExit(sourceAddress.IsValid(), error = OT_ERROR_PARSE);
 
-        if (GetRouterId(sourceAddress.GetRloc16()) != GetRouterId(GetRloc16()))
+        if (RouterIdFromRloc16(sourceAddress.GetRloc16()) != RouterIdFromRloc16(GetRloc16()))
         {
             BecomeDetached();
             ExitNow();
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index 74fe217e1..bd9adaa9d 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -926,14 +926,14 @@ public:
     static uint16_t GetChildId(uint16_t aRloc16) { return aRloc16 & kMaxChildId; }
 
     /**
-     * This method returns the Router ID portion of an RLOC16.
+     * This method derives the Router ID portion from a given RLOC16.
      *
      * @param[in]  aRloc16  The RLOC16 value.
      *
      * @returns The Router ID portion of an RLOC16.
      *
      */
-    static uint8_t GetRouterId(uint16_t aRloc16) { return aRloc16 >> kRouterIdOffset; }
+    static uint8_t RouterIdFromRloc16(uint16_t aRloc16) { return aRloc16 >> kRouterIdOffset; }
 
     /**
      * This method returns whether the two RLOC16 have the same Router ID.
diff --git a/src/core/thread/mle_router.cpp b/src/core/thread/mle_router.cpp
index d42ceb7eb..17b135a81 100644
--- a/src/core/thread/mle_router.cpp
+++ b/src/core/thread/mle_router.cpp
@@ -321,7 +321,7 @@ void MleRouter::SetStateRouter(uint16_t aRloc16)
     // remove children that do not have matching RLOC16
     for (ChildTable::Iterator iter(GetInstance(), Child::kInStateValidOrRestoring); !iter.IsDone(); iter++)
     {
-        if (GetRouterId(iter.GetChild()->GetRloc16()) != mRouterId)
+        if (RouterIdFromRloc16(iter.GetChild()->GetRloc16()) != mRouterId)
         {
             RemoveNeighbor(*iter.GetChild());
         }
@@ -358,7 +358,7 @@ void MleRouter::SetStateLeader(uint16_t aRloc16)
     // remove children that do not have matching RLOC16
     for (ChildTable::Iterator iter(GetInstance(), Child::kInStateValidOrRestoring); !iter.IsDone(); iter++)
     {
-        if (GetRouterId(iter.GetChild()->GetRloc16()) != mRouterId)
+        if (RouterIdFromRloc16(iter.GetChild()->GetRloc16()) != mRouterId)
         {
             RemoveNeighbor(*iter.GetChild());
         }
@@ -605,7 +605,7 @@ otError MleRouter::HandleLinkRequest(const Message &aMessage, const Ip6::Message
 
             aMessageInfo.GetPeerAddr().ToExtAddress(macAddr);
 
-            neighbor = mRouterTable.GetRouter(GetRouterId(rloc16));
+            neighbor = mRouterTable.GetRouter(RouterIdFromRloc16(rloc16));
             VerifyOrExit(neighbor != NULL, error = OT_ERROR_PARSE);
             VerifyOrExit(!neighbor->IsStateLinkRequest(), error = OT_ERROR_ALREADY);
 
@@ -828,7 +828,7 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
 
     VerifyOrExit(IsActiveRouter(sourceAddress.GetRloc16()), error = OT_ERROR_PARSE);
 
-    routerId      = GetRouterId(sourceAddress.GetRloc16());
+    routerId      = RouterIdFromRloc16(sourceAddress.GetRloc16());
     router        = mRouterTable.GetRouter(routerId);
     neighborState = (router != NULL) ? router->GetState() : Neighbor::kStateInvalid;
 
@@ -918,7 +918,7 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
         router = mRouterTable.GetRouter(routerId);
         VerifyOrExit(router != NULL);
 
-        if (mLeaderData.GetLeaderRouterId() == GetRouterId(GetRloc16()))
+        if (mLeaderData.GetLeaderRouterId() == RouterIdFromRloc16(GetRloc16()))
         {
             SetStateLeader(GetRloc16());
         }
@@ -1236,7 +1236,7 @@ otError MleRouter::HandleAdvertisement(const Message &         aMessage,
     }
 
     VerifyOrExit(IsActiveRouter(sourceAddress.GetRloc16()) && route.IsValid());
-    routerId = GetRouterId(sourceAddress.GetRloc16());
+    routerId = RouterIdFromRloc16(sourceAddress.GetRloc16());
 
 #if OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
     Get<TimeSync>().HandleTimeSyncMessage(aMessage);
@@ -1552,7 +1552,7 @@ bool MleRouter::UpdateLinkQualityOut(const RouteTlv &aRoute, Router &aNeighbor,
     uint8_t oldLinkCost;
     Router *nextHop;
 
-    myRouterId = GetRouterId(GetRloc16());
+    myRouterId = RouterIdFromRloc16(GetRloc16());
     VerifyOrExit(aRoute.IsRouterIdSet(myRouterId));
 
     myRouteCount = 0;
@@ -3178,7 +3178,7 @@ bool MleRouter::IsMinimalChild(uint16_t aRloc16)
 {
     bool rval = false;
 
-    if (GetRouterId(aRloc16) == GetRouterId(Get<Mac::Mac>().GetShortAddress()))
+    if (RouterIdFromRloc16(aRloc16) == RouterIdFromRloc16(Get<Mac::Mac>().GetShortAddress()))
     {
         Neighbor *neighbor;
 
@@ -3400,7 +3400,7 @@ exit:
 
 uint16_t MleRouter::GetNextHop(uint16_t aDestination)
 {
-    uint8_t       destinationId = GetRouterId(aDestination);
+    uint8_t       destinationId = RouterIdFromRloc16(aDestination);
     uint8_t       routeCost;
     uint8_t       linkCost;
     uint16_t      rval = Mac::kShortAddrInvalid;
@@ -3442,7 +3442,7 @@ exit:
 
 uint8_t MleRouter::GetCost(uint16_t aRloc16)
 {
-    uint8_t routerId = GetRouterId(aRloc16);
+    uint8_t routerId = RouterIdFromRloc16(aRloc16);
     uint8_t cost     = GetLinkCost(routerId);
     Router *router   = mRouterTable.GetRouter(routerId);
     uint8_t routeCost;
@@ -3465,7 +3465,7 @@ uint8_t MleRouter::GetRouteCost(uint16_t aRloc16) const
     uint8_t       rval = kMaxRouteCost;
     const Router *router;
 
-    router = mRouterTable.GetRouter(GetRouterId(aRloc16));
+    router = mRouterTable.GetRouter(RouterIdFromRloc16(aRloc16));
     VerifyOrExit(router != NULL && mRouterTable.GetRouter(router->GetNextHop()) != NULL);
 
     rval = router->GetCost();
@@ -3761,7 +3761,7 @@ void MleRouter::ResolveRoutingLoops(uint16_t aSourceMac, uint16_t aDestRloc16)
     }
 
     // loop exists
-    router = mRouterTable.GetRouter(GetRouterId(aDestRloc16));
+    router = mRouterTable.GetRouter(RouterIdFromRloc16(aDestRloc16));
     VerifyOrExit(router != NULL);
 
     // invalidate next hop
@@ -3797,7 +3797,7 @@ otError MleRouter::CheckReachability(uint16_t aMeshSource, uint16_t aMeshDest, I
             ExitNow();
         }
     }
-    else if (GetRouterId(aMeshDest) == mRouterId)
+    else if (RouterIdFromRloc16(aMeshDest) == mRouterId)
     {
         // mesh destination is a child of this device
         if (mChildTable.FindChild(aMeshDest, Child::kInStateValidOrRestoring))
@@ -3966,7 +3966,7 @@ void MleRouter::HandleAddressSolicitResponse(Coap::Message *         aMessage,
 
     SuccessOrExit(ThreadTlv::GetTlv(*aMessage, ThreadTlv::kRloc16, sizeof(rlocTlv), rlocTlv));
     VerifyOrExit(rlocTlv.IsValid());
-    routerId = GetRouterId(rlocTlv.GetRloc16());
+    routerId = RouterIdFromRloc16(rlocTlv.GetRloc16());
 
     SuccessOrExit(ThreadTlv::GetTlv(*aMessage, ThreadTlv::kRouterMask, sizeof(routerMaskTlv), routerMaskTlv));
     VerifyOrExit(routerMaskTlv.IsValid());
@@ -3999,7 +3999,7 @@ void MleRouter::HandleAddressSolicitResponse(Coap::Message *         aMessage,
     {
         // Keep route path to the Leader reported by the parent before it is updated.
         leader->SetCost(mParentLeaderCost);
-        leader->SetNextHop(GetRouterId(mParent.GetRloc16()));
+        leader->SetNextHop(RouterIdFromRloc16(mParent.GetRloc16()));
     }
 
     // send link request
@@ -4081,7 +4081,7 @@ void MleRouter::HandleAddressSolicit(Coap::Message &aMessage, const Ip6::Message
     if (ThreadTlv::GetTlv(aMessage, ThreadTlv::kRloc16, sizeof(rlocTlv), rlocTlv) == OT_ERROR_NONE)
     {
         VerifyOrExit(rlocTlv.IsValid(), error = OT_ERROR_PARSE);
-        router = mRouterTable.Allocate(GetRouterId(rlocTlv.GetRloc16()));
+        router = mRouterTable.Allocate(RouterIdFromRloc16(rlocTlv.GetRloc16()));
     }
 
     // allocate new router id
@@ -4186,7 +4186,7 @@ void MleRouter::HandleAddressRelease(Coap::Message &aMessage, const Ip6::Message
     SuccessOrExit(ThreadTlv::GetTlv(aMessage, ThreadTlv::kExtMacAddress, sizeof(macAddr64Tlv), macAddr64Tlv));
     VerifyOrExit(macAddr64Tlv.IsValid());
 
-    routerId = GetRouterId(rlocTlv.GetRloc16());
+    routerId = RouterIdFromRloc16(rlocTlv.GetRloc16());
     router   = mRouterTable.GetRouter(routerId);
 
     VerifyOrExit(router != NULL && router->GetExtAddress() == macAddr64Tlv.GetMacAddr());
diff --git a/src/core/thread/router_table.cpp b/src/core/thread/router_table.cpp
index cfa1a2731..c4955d39e 100644
--- a/src/core/thread/router_table.cpp
+++ b/src/core/thread/router_table.cpp
@@ -424,7 +424,7 @@ otError RouterTable::GetRouterInfo(uint16_t aRouterId, otRouterInfo &aRouterInfo
     else
     {
         VerifyOrExit(Mle::Mle::IsActiveRouter(aRouterId), error = OT_ERROR_INVALID_ARGS);
-        routerId = Mle::Mle::GetRouterId(aRouterId);
+        routerId = Mle::Mle::RouterIdFromRloc16(aRouterId);
         VerifyOrExit(routerId <= Mle::kMaxRouterId, error = OT_ERROR_INVALID_ARGS);
     }