diff --git a/CMakeLists.txt b/CMakeLists.txt
index e5d16b789d..0dadc5b874 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,7 @@ add_library(mbed-core OBJECT)
 # TODO CMAKE: Replace mbed-os by a new one that will include mbed-core and mbed-rtos
 add_library(mbed-os ALIAS mbed-core)
 
+
 # Validate selected C library type
 # The C library type selected has to match the library that the target can support
 if(${MBED_C_LIB} STREQUAL "small")
@@ -69,10 +70,12 @@ target_include_directories(mbed-core
         ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-# TODO CMake: This component is made visible here so its source files in
-# drivers/ can be added and it can be linked against by libraries in storage/.
-# Should the source files be moved from drivers/ to storage/ ?
+# These targets are made visible here so their source files which
+# are spread in different directories can be referenced and can be linked against
+# by libraries that depend on them.
+# TODO CMake: Should the source files be moved?
 add_library(mbed-device_key INTERFACE)
+add_library(mbed-rtos INTERFACE)
 
 add_subdirectory(cmsis)
 add_subdirectory(drivers)
@@ -89,6 +92,8 @@ add_subdirectory(drivers/device_key EXCLUDE_FROM_ALL)
 add_subdirectory(drivers/source/usb EXCLUDE_FROM_ALL)
 add_subdirectory(features EXCLUDE_FROM_ALL)
 add_subdirectory(platform/FEATURE_EXPERIMENTAL_API EXCLUDE_FROM_ALL)
+add_subdirectory(cmsis/CMSIS_5/CMSIS/RTOS2 EXCLUDE_FROM_ALL)
+add_subdirectory(cmsis/device/rtos EXCLUDE_FROM_ALL)
 
 #
 # Configures the application
diff --git a/cmsis/CMSIS_5/CMSIS/CMakeLists.txt b/cmsis/CMSIS_5/CMSIS/CMakeLists.txt
index a78bd31afb..6d0f9bb548 100644
--- a/cmsis/CMSIS_5/CMSIS/CMakeLists.txt
+++ b/cmsis/CMSIS_5/CMSIS/CMakeLists.txt
@@ -7,4 +7,3 @@ elseif("CORTEX_M" IN_LIST MBED_TARGET_LABELS)
     add_subdirectory(TARGET_CORTEX_M)
 endif()
 
-add_subdirectory(RTOS2)
diff --git a/cmsis/CMSIS_5/CMSIS/RTOS2/CMakeLists.txt b/cmsis/CMSIS_5/CMSIS/RTOS2/CMakeLists.txt
index ddb54e0590..2069785223 100644
--- a/cmsis/CMSIS_5/CMSIS/RTOS2/CMakeLists.txt
+++ b/cmsis/CMSIS_5/CMSIS/RTOS2/CMakeLists.txt
@@ -3,12 +3,12 @@
 
 add_subdirectory(RTX)
 
-target_include_directories(mbed-core
+target_include_directories(mbed-rtos
     PUBLIC
         Include
 )
 
-target_sources(mbed-core
+target_sources(mbed-rtos
     PRIVATE
         Source/os_systick.c
         Source/os_tick_ptim.c
diff --git a/cmsis/CMSIS_5/CMSIS/RTOS2/RTX/CMakeLists.txt b/cmsis/CMSIS_5/CMSIS/RTOS2/RTX/CMakeLists.txt
index 62fa6d6076..4154bacdb1 100644
--- a/cmsis/CMSIS_5/CMSIS/RTOS2/RTX/CMakeLists.txt
+++ b/cmsis/CMSIS_5/CMSIS/RTOS2/RTX/CMakeLists.txt
@@ -19,7 +19,7 @@ function(_mbed_get_cortex_m_exception_handlers toolchain_dir)
             set(STARTUP_RTX_FILE TARGET_RTOS_M4_M7/irq_cm4f.S)
         endif()
 
-        target_sources(mbed-core
+        target_sources(mbed-rtos
             PRIVATE
                 Source/${toolchain_dir}/${STARTUP_RTX_FILE}
         )
@@ -29,7 +29,7 @@ endfunction()
 function(_mbed_get_cortex_a_exception_handlers)
     foreach(key ${MBED_TARGET_LABELS})
         if(${key} STREQUAL CORTEX_A)
-            target_sources(mbed-core PRIVATE Config/TARGET_CORTEX_A/handlers.c)
+            target_sources(mbed-rtos PRIVATE Config/TARGET_CORTEX_A/handlers.c)
         endif()
     endforeach()
 endfunction()
@@ -44,7 +44,7 @@ elseif(${MBED_TOOLCHAIN} STREQUAL "IAR")
     _mbed_get_cortex_m_exception_handlers(TOOLCHAIN_IAR)
 endif()
 
-target_include_directories(mbed-core
+target_include_directories(mbed-rtos
     PUBLIC
         Config
         Include
@@ -52,7 +52,7 @@ target_include_directories(mbed-core
         Source
 )
 
-target_sources(mbed-core
+target_sources(mbed-rtos
     PRIVATE
         Config/RTX_Config.c
 
diff --git a/cmsis/device/CMakeLists.txt b/cmsis/device/CMakeLists.txt
index c3e3b09c67..9322133fe6 100644
--- a/cmsis/device/CMakeLists.txt
+++ b/cmsis/device/CMakeLists.txt
@@ -2,7 +2,6 @@
 # SPDX-License-Identifier: Apache-2.0
 
 add_subdirectory(RTE)
-add_subdirectory(rtos)
 
 target_include_directories(mbed-core
     PUBLIC
diff --git a/cmsis/device/rtos/CMakeLists.txt b/cmsis/device/rtos/CMakeLists.txt
index 43471103e2..2eccfce188 100644
--- a/cmsis/device/rtos/CMakeLists.txt
+++ b/cmsis/device/rtos/CMakeLists.txt
@@ -2,35 +2,35 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(${MBED_TOOLCHAIN} STREQUAL "GCC_ARM")
-    target_sources(mbed-core
+    target_sources(mbed-rtos
         PRIVATE
             TOOLCHAIN_GCC_ARM/mbed_boot_gcc_arm.c
     )
 elseif(${MBED_TOOLCHAIN} STREQUAL "ARM")
-    target_sources(mbed-core
+    target_sources(mbed-rtos
         PRIVATE
             TOOLCHAIN_ARM_STD/mbed_boot_arm_std.c
     )
 elseif(${MBED_TOOLCHAIN} STREQUAL "IAR")
-    target_sources(mbed-core
+    target_sources(mbed-rtos
         PRIVATE
             TOOLCHAIN_IAR/mbed_boot_iar.c
     )
 endif()
 
-target_include_directories(mbed-core
+target_include_directories(mbed-rtos
     PUBLIC
         include
 )
 
-target_sources(mbed-core PRIVATE
+target_sources(mbed-rtos PRIVATE
     source/mbed_boot.c
     source/mbed_rtos_rtx.c
     source/mbed_rtx_handlers.c
     source/mbed_rtx_idle.cpp
 )
 
-target_compile_definitions(mbed-core
+target_compile_definitions(mbed-rtos
     PUBLIC
         MBED_CONF_RTOS_PRESENT=1
 )
diff --git a/rtos/CMakeLists.txt b/rtos/CMakeLists.txt
index c2f3e993cc..1963ba6653 100644
--- a/rtos/CMakeLists.txt
+++ b/rtos/CMakeLists.txt
@@ -12,12 +12,16 @@ target_include_directories(mbed-core
 
 target_sources(mbed-core
     PRIVATE
-        source/ConditionVariable.cpp
         source/EventFlags.cpp
         source/Kernel.cpp
         source/Mutex.cpp
         source/Semaphore.cpp
         source/ThisThread.cpp
+)
+
+target_sources(mbed-os
+    PRIVATE
+        source/ConditionVariable.cpp
         source/Thread.cpp
 )