diff --git a/config/example-extras.cfg b/config/example-extras.cfg
index ab8d8e3f..61a3d276 100644
--- a/config/example-extras.cfg
+++ b/config/example-extras.cfg
@@ -13,7 +13,9 @@
 # QUERY_PROBE extended g-code commands become available. The probe
 # section also creates a virtual "probe:z_virtual_endstop" pin. One
 # may set the stepper_z endstop_pin to this virtual pin on cartesian
-# style printers that use the probe in place of a z endstop.
+# style printers that use the probe in place of a z endstop. If using
+# "probe:z_virtual_endstop" then do not define a position_endstop in
+# the stepper_z config section.
 #[probe]
 #pin: ar15
 #   Probe detection pin. This parameter must be provided.
diff --git a/config/sample-bltouch.cfg b/config/sample-bltouch.cfg
index 676418d8..fe67e564 100644
--- a/config/sample-bltouch.cfg
+++ b/config/sample-bltouch.cfg
@@ -30,8 +30,6 @@ deactivate_gcode:
 
 # Example bed_tilt config section
 [bed_tilt]
-#x_adjust:
-#y_adjust:
 points:
     100,100
     10,10
@@ -45,8 +43,8 @@ points:
 
 # If the BLTouch is used to home the Z axis, then define a
 # homing_override section, use probe:z_virtual_endstop as the
-# endstop_pin in the stepper_z section, and set the position_endstop
-# in the stepper_z section to match the probe's z_offset.
+# endstop_pin in the stepper_z section, and do not set
+# position_endstop in the stepper_z section.
 #[homing_override]
 #set_position_z: 5
 #axes: z
diff --git a/klippy/extras/bed_mesh.py b/klippy/extras/bed_mesh.py
index 5a7a622d..c312cc9d 100644
--- a/klippy/extras/bed_mesh.py
+++ b/klippy/extras/bed_mesh.py
@@ -138,11 +138,6 @@ class BedMeshCalibrate:
         self._init_probe_params(config, points)
         self.probe_helper = probe.ProbePointsHelper(
             config, self.probe_finalize, points)
-        self.z_endstop_pos = None
-        if config.has_section('stepper_z'):
-            zconfig = config.getsection('stepper_z')
-            self.z_endstop_pos = zconfig.getfloat(
-                'position_endstop', None)
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command(
             'BED_MESH_CALIBRATE', self.cmd_BED_MESH_CALIBRATE,
@@ -227,18 +222,6 @@ class BedMeshCalibrate:
         self.probe_params['x_offset'] = offsets[0]
         self.probe_params['y_offset'] = offsets[1]
         z_offset = offsets[2]
-        if self.probe_helper.get_last_xy_home_positon() is not None \
-                and self.z_endstop_pos is not None:
-            # Using probe as a virtual endstop, warn user if the
-            # stepper_z position_endstop is different
-            if self.z_endstop_pos != z_offset:
-                z_msg = "bed_mesh: WARN - probe z_offset is not" \
-                        " equal to Z position_endstop\n"
-                z_msg += "[probe] z_offset: %.4f\n" % z_offset
-                z_msg += "[stepper_z] position_endstop: %.4f" \
-                    % self.z_endstop_pos
-                logging.info(z_msg)
-                self.gcode.respond_info(z_msg)
         x_cnt = self.probe_params['x_count']
         y_cnt = self.probe_params['y_count']
         # create a 2-D array representing the probed z-positions.
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index 5b503610..5034ecf0 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -38,7 +38,6 @@ class PrinterProbe:
             self.mcu_probe = ProbeEndstopWrapper(config, self.mcu_probe)
         # Create z_virtual_endstop pin
         ppins.register_chip('probe', self)
-        self.z_virtual_endstop = None
         # Register PROBE/QUERY_PROBE commands
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command(
@@ -54,15 +53,9 @@ class PrinterProbe:
             raise pins.error("Probe virtual endstop only useful as endstop pin")
         if pin_params['invert'] or pin_params['pullup']:
             raise pins.error("Can not pullup/invert probe virtual endstop")
-        self.z_virtual_endstop = ProbeVirtualEndstop(
-            self.printer, self.mcu_probe)
-        return self.z_virtual_endstop
+        return ProbeVirtualEndstop(self, self.mcu_probe)
     def get_offsets(self):
         return self.x_offset, self.y_offset, self.z_offset
-    def last_home_position(self):
-        if self.z_virtual_endstop is None:
-            return None
-        return self.z_virtual_endstop.position
     cmd_PROBE_help = "Probe Z-height at current XY position"
     def cmd_PROBE(self, params):
         toolhead = self.printer.lookup_object('toolhead')
@@ -112,25 +105,24 @@ class ProbeEndstopWrapper:
         self.gcode.run_script_from_command(self.deactivate_gcode)
         self.mcu_endstop.home_finalize()
 
-# Wrapper that records the last XY position of a virtual endstop probe
+# Wrapper for probe:z_virtual_endstop handling
 class ProbeVirtualEndstop:
-    def __init__(self, printer, mcu_endstop):
-        self.printer = printer
+    def __init__(self, probe, mcu_endstop):
+        self.probe = probe
         self.mcu_endstop = mcu_endstop
-        self.position = None
         # Wrappers
         self.get_mcu = self.mcu_endstop.get_mcu
         self.add_stepper = self.mcu_endstop.add_stepper
         self.get_steppers = self.mcu_endstop.get_steppers
         self.home_start = self.mcu_endstop.home_start
         self.home_wait = self.mcu_endstop.home_wait
+        self.home_finalize = self.mcu_endstop.home_finalize
         self.query_endstop = self.mcu_endstop.query_endstop
         self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
         self.home_prepare = self.mcu_endstop.home_prepare
         self.TimeoutError = self.mcu_endstop.TimeoutError
-    def home_finalize(self):
-        self.position = self.printer.lookup_object('toolhead').get_position()
-        self.mcu_endstop.home_finalize()
+    def get_position_endstop(self):
+        return self.probe.get_offsets()[2]
 
 # Helper code that can probe a series of points and report the
 # position at each point.
@@ -164,11 +156,6 @@ class ProbePointsHelper:
         self.gcode = self.toolhead = None
     def get_lift_speed(self):
         return self.lift_speed
-    def get_last_xy_home_positon(self):
-        probe = self.printer.lookup_object('probe', None)
-        if probe is None:
-            return None
-        return probe.last_home_position()
     def _lift_z(self, z_pos, add=False, speed=None):
         # Lift toolhead
         curpos = self.toolhead.get_position()
diff --git a/klippy/stepper.py b/klippy/stepper.py
index e12f99f6..c7fda2bd 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -121,7 +121,9 @@ class PrinterRail:
         mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
         self.endstops = [(mcu_endstop, self.name)]
         stepper.add_to_endstop(mcu_endstop)
-        if default_position_endstop is None:
+        if hasattr(mcu_endstop, "get_position_endstop"):
+            self.position_endstop = mcu_endstop.get_position_endstop()
+        elif default_position_endstop is None:
             self.position_endstop = config.getfloat('position_endstop')
         else:
             self.position_endstop = config.getfloat(