diff --git a/bt/bt_player.cpp b/bt/bt_player.cpp
index 55e5a7f..571e8b2 100644
--- a/bt/bt_player.cpp
+++ b/bt/bt_player.cpp
@@ -90,7 +90,7 @@ void BTPlayer::update(double p_delta) {
 }
 
 void BTPlayer::restart() {
-	tree_instance->cancel();
+	tree_instance->abort();
 	set_active(true);
 }
 
diff --git a/bt/bt_state.cpp b/bt/bt_state.cpp
index 9f0a711..880e713 100644
--- a/bt/bt_state.cpp
+++ b/bt/bt_state.cpp
@@ -30,7 +30,7 @@ void BTState::_setup() {
 
 void BTState::_exit() {
 	ERR_FAIL_COND(tree_instance == nullptr);
-	tree_instance->cancel();
+	tree_instance->abort();
 }
 
 void BTState::_update(double p_delta) {
diff --git a/bt/tasks/bt_task.cpp b/bt/tasks/bt_task.cpp
index 47b4774..dcc8ba0 100644
--- a/bt/tasks/bt_task.cpp
+++ b/bt/tasks/bt_task.cpp
@@ -161,7 +161,7 @@ BT::Status BTTask::execute(double p_delta) {
 		// Reset children status.
 		if (data.status != FRESH) {
 			for (int i = 0; i < get_child_count(); i++) {
-				data.children.get(i)->cancel();
+				data.children.get(i)->abort();
 			}
 		}
 		if (!GDVIRTUAL_CALL(_enter)) {
@@ -184,9 +184,9 @@ BT::Status BTTask::execute(double p_delta) {
 	return data.status;
 }
 
-void BTTask::cancel() {
+void BTTask::abort() {
 	for (int i = 0; i < data.children.size(); i++) {
-		get_child(i)->cancel();
+		get_child(i)->abort();
 	}
 	if (data.status == RUNNING) {
 		if (!GDVIRTUAL_CALL(_exit)) {
@@ -320,8 +320,7 @@ void BTTask::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("next_sibling"), &BTTask::next_sibling);
 	ClassDB::bind_method(D_METHOD("print_tree", "p_initial_tabs"), &BTTask::print_tree, Variant(0));
 	ClassDB::bind_method(D_METHOD("get_task_name"), &BTTask::get_task_name);
-	ClassDB::bind_method(D_METHOD("get_custom_name"), &BTTask::get_custom_name);
-	ClassDB::bind_method(D_METHOD("set_custom_name", "p_name"), &BTTask::set_custom_name);
+	ClassDB::bind_method(D_METHOD("abort"), &BTTask::abort);
 
 	// Properties, setters and getters.
 	ClassDB::bind_method(D_METHOD("get_agent"), &BTTask::get_agent);
@@ -332,6 +331,8 @@ void BTTask::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_parent"), &BTTask::get_parent);
 	ClassDB::bind_method(D_METHOD("get_status"), &BTTask::get_status);
 	ClassDB::bind_method(D_METHOD("get_elapsed_time"), &BTTask::get_elapsed_time);
+	ClassDB::bind_method(D_METHOD("get_custom_name"), &BTTask::get_custom_name);
+	ClassDB::bind_method(D_METHOD("set_custom_name", "p_name"), &BTTask::set_custom_name);
 
 	ADD_PROPERTY(PropertyInfo(Variant::STRING, "custom_name"), "set_custom_name", "get_custom_name");
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "agent", PROPERTY_HINT_RESOURCE_TYPE, "Node", PROPERTY_USAGE_NONE), "set_agent", "get_agent");
diff --git a/bt/tasks/bt_task.h b/bt/tasks/bt_task.h
index 7e2685a..da94d8b 100644
--- a/bt/tasks/bt_task.h
+++ b/bt/tasks/bt_task.h
@@ -103,7 +103,7 @@ public:
 	virtual PackedStringArray get_configuration_warnings() const;
 
 	Status execute(double p_delta);
-	void cancel();
+	void abort();
 	Status get_status() const { return data.status; }
 	double get_elapsed_time() const { return data.elapsed; };
 
diff --git a/bt/tasks/composites/bt_dynamic_selector.cpp b/bt/tasks/composites/bt_dynamic_selector.cpp
index af63888..d5f9195 100644
--- a/bt/tasks/composites/bt_dynamic_selector.cpp
+++ b/bt/tasks/composites/bt_dynamic_selector.cpp
@@ -27,7 +27,7 @@ BT::Status BTDynamicSelector::_tick(double p_delta) {
 	// If the last node ticked is earlier in the tree than the previous runner,
 	// cancel previous runner.
 	if (last_running_idx > i && get_child(last_running_idx)->get_status() == RUNNING) {
-		get_child(last_running_idx)->cancel();
+		get_child(last_running_idx)->abort();
 	}
 	last_running_idx = i;
 	return status;
diff --git a/bt/tasks/composites/bt_dynamic_sequence.cpp b/bt/tasks/composites/bt_dynamic_sequence.cpp
index d3902e4..5c6fab5 100644
--- a/bt/tasks/composites/bt_dynamic_sequence.cpp
+++ b/bt/tasks/composites/bt_dynamic_sequence.cpp
@@ -27,7 +27,7 @@ BT::Status BTDynamicSequence::_tick(double p_delta) {
 	// If the last node ticked is earlier in the tree than the previous runner,
 	// cancel previous runner.
 	if (last_running_idx > i && get_child(last_running_idx)->get_status() == RUNNING) {
-		get_child(last_running_idx)->cancel();
+		get_child(last_running_idx)->abort();
 	}
 	last_running_idx = i;
 	return status;
diff --git a/bt/tasks/composites/bt_parallel.cpp b/bt/tasks/composites/bt_parallel.cpp
index 74c192e..8afee63 100644
--- a/bt/tasks/composites/bt_parallel.cpp
+++ b/bt/tasks/composites/bt_parallel.cpp
@@ -15,7 +15,7 @@
 
 void BTParallel::_enter() {
 	for (int i = 0; i < get_child_count(); i++) {
-		get_child(i)->cancel();
+		get_child(i)->abort();
 	}
 }
 
diff --git a/bt/tasks/decorators/bt_time_limit.cpp b/bt/tasks/decorators/bt_time_limit.cpp
index 6be1044..1ea3693 100644
--- a/bt/tasks/decorators/bt_time_limit.cpp
+++ b/bt/tasks/decorators/bt_time_limit.cpp
@@ -26,7 +26,7 @@ BT::Status BTTimeLimit::_tick(double p_delta) {
 	ERR_FAIL_COND_V_MSG(get_child_count() == 0, FAILURE, "BT decorator has no child.");
 	Status status = get_child(0)->execute(p_delta);
 	if (status == RUNNING && get_elapsed_time() >= time_limit) {
-		get_child(0)->cancel();
+		get_child(0)->abort();
 		return FAILURE;
 	}
 	return status;
diff --git a/tests/test_task.h b/tests/test_task.h
index e2b7224..2247cd0 100644
--- a/tests/test_task.h
+++ b/tests/test_task.h
@@ -185,7 +185,7 @@ TEST_CASE("[Modules][LimboAI] BTTask") {
 			CHECK(task->get_elapsed_time() == 0.0);
 		}
 		SUBCASE("When cancelled") {
-			task->cancel();
+			task->abort();
 			CHECK(task->get_elapsed_time() == 0.0);
 		}
 	}
diff --git a/tests/test_wait_actions.h b/tests/test_wait_actions.h
index ee15506..ce55c86 100644
--- a/tests/test_wait_actions.h
+++ b/tests/test_wait_actions.h
@@ -102,7 +102,7 @@ TEST_CASE("[Modules][LimboAI] BTRandomWait") {
 					num_undefined += 1;
 				} break;
 			}
-			wait->cancel();
+			wait->abort();
 		}
 
 		// * Expected ~500/500 SUCCESS/RUNNING.