diff --git a/src/robot_interface/endpoints/receiver_base.py b/src/robot_interface/endpoints/receiver_base.py
index 35f933e..b3183f7 100644
--- a/src/robot_interface/endpoints/receiver_base.py
+++ b/src/robot_interface/endpoints/receiver_base.py
@@ -1,9 +1,9 @@
 from abc import ABCMeta, abstractmethod
 
-from robot_interface.endpoints.endpoint_base import EndpointBase
+from robot_interface.endpoints.socket_base import SocketBase
 
 
-class ReceiverBase(EndpointBase, object):
+class ReceiverBase(SocketBase, object):
     """Associated with a ZeroMQ socket."""
     __metaclass__ = ABCMeta
 
diff --git a/src/robot_interface/endpoints/endpoint_base.py b/src/robot_interface/endpoints/socket_base.py
similarity index 97%
rename from src/robot_interface/endpoints/endpoint_base.py
rename to src/robot_interface/endpoints/socket_base.py
index 54ebf1c..a5124f6 100644
--- a/src/robot_interface/endpoints/endpoint_base.py
+++ b/src/robot_interface/endpoints/socket_base.py
@@ -1,7 +1,7 @@
 from abc import ABCMeta
 
 
-class EndpointBase(object):
+class SocketBase(object):
     __metaclass__ = ABCMeta
 
     name = None
diff --git a/src/robot_interface/main.py b/src/robot_interface/main.py
index 11cb761..a295484 100644
--- a/src/robot_interface/main.py
+++ b/src/robot_interface/main.py
@@ -14,11 +14,11 @@ def main_loop(context):
     :param context: The ZeroMQ context to use.
     :type context: zmq.Context
     """
-    # When creating endpoints, remember to add them to the endpoint list of the state to ensure they're deinitialized
+    # When creating sockets, remember to add them to the `sockets` list of the state to ensure they're deinitialized
     main_receiver = MainReceiver(context)
     state.endpoints.append(main_receiver)
 
-    # Define endpoints that can run on the main thread. These endpoints should not block for long (say 50 ms at most).
+    # Sockets that can run on the main thread. These sockets' endpoints should not block for long (say 50 ms at most).
     receivers = [main_receiver]
 
     poller = zmq.Poller()
diff --git a/src/robot_interface/state.py b/src/robot_interface/state.py
index 30d6a0f..d10cf77 100644
--- a/src/robot_interface/state.py
+++ b/src/robot_interface/state.py
@@ -14,7 +14,7 @@ class State(object):
     def __init__(self):
         self.is_initialized = False
         self.exit_event = None
-        self.endpoints = []  # type: List[EndpointBase]
+        self.sockets = []  # type: List[SocketBase]
 
     def initialize(self):
         if self.is_initialized:
@@ -33,8 +33,8 @@ class State(object):
     def deinitialize(self):
         if not self.is_initialized: return
 
-        for endpoint in self.endpoints:
-            endpoint.close()
+        for socket in self.sockets:
+            socket.close()
 
         self.is_initialized = False