diff --git a/Build/MQTTnet.nuspec b/Build/MQTTnet.nuspec
index 81e6caf1..fd8614e5 100644
--- a/Build/MQTTnet.nuspec
+++ b/Build/MQTTnet.nuspec
@@ -20,6 +20,7 @@
 * [Server] Added support for assigned client IDs (MQTTv5 only) (thanks to @bcrosnier).
 * [Server] Added interceptor for unsubscriptions.
 * [MQTTnet.Server] Added interceptor for unsubscriptions.
+* [MQTTnet.AspNetCore] improved compatibility with AspNetCore 3.1
     </releaseNotes>
     <copyright>Copyright Christian Kratky 2016-2019</copyright>
     <tags>MQTT Message Queue Telemetry Transport MQTTClient MQTTServer Server MQTTBroker Broker NETStandard IoT InternetOfThings Messaging Hardware Arduino Sensor Actuator M2M ESP Smart Home Cities Automation Xamarin</tags> 
diff --git a/Source/MQTTnet.AspnetCore/Client/Tcp/TcpConnection.cs b/Source/MQTTnet.AspnetCore/Client/Tcp/TcpConnection.cs
index 37913fe4..4cc16683 100644
--- a/Source/MQTTnet.AspnetCore/Client/Tcp/TcpConnection.cs
+++ b/Source/MQTTnet.AspnetCore/Client/Tcp/TcpConnection.cs
@@ -40,8 +40,11 @@ namespace MQTTnet.AspNetCore.Client.Tcp
             _sender = new SocketSender(_socket, PipeScheduler.ThreadPool);
             _receiver = new SocketReceiver(_socket, PipeScheduler.ThreadPool);
         }
-
+#if NETCOREAPP3_1
+        public override ValueTask DisposeAsync()
+#else
         public Task DisposeAsync()
+#endif
         {
             IsConnected = false;
 
@@ -50,8 +53,15 @@ namespace MQTTnet.AspNetCore.Client.Tcp
 
             _socket?.Dispose();
 
+#if NETCOREAPP3_1
+
+            return base.DisposeAsync();
+        }
+#else
+
             return Task.CompletedTask;
         }
+#endif
 
         public async Task StartAsync()
         {
diff --git a/Source/MQTTnet.AspnetCore/ApplicationBuilderExtensions.cs b/Source/MQTTnet.AspnetCore/Extensions/ApplicationBuilderExtensions.cs
similarity index 75%
rename from Source/MQTTnet.AspnetCore/ApplicationBuilderExtensions.cs
rename to Source/MQTTnet.AspnetCore/Extensions/ApplicationBuilderExtensions.cs
index 94fc8e41..759b064d 100644
--- a/Source/MQTTnet.AspnetCore/ApplicationBuilderExtensions.cs
+++ b/Source/MQTTnet.AspnetCore/Extensions/ApplicationBuilderExtensions.cs
@@ -1,14 +1,13 @@
 using System;
 using Microsoft.AspNetCore.Builder;
 using Microsoft.Extensions.DependencyInjection;
-using System.Linq;
 using MQTTnet.Server;
-using System.Collections.Generic;
 
 namespace MQTTnet.AspNetCore
 {
     public static class ApplicationBuilderExtensions
     {
+        [Obsolete("This class is obsolete and will be removed in a future version. The recommended alternative is to use MapMqtt inside Microsoft.AspNetCore.Builder.UseEndpoints(...).")]
         public static IApplicationBuilder UseMqttEndpoint(this IApplicationBuilder app, string path = "/mqtt")
         {
             app.UseWebSockets();
@@ -24,7 +23,7 @@ namespace MQTTnet.AspNetCore
 
                 if (context.Request.Headers.TryGetValue("Sec-WebSocket-Protocol", out var requestedSubProtocolValues))
                 {
-                    subProtocol = SelectSubProtocol(requestedSubProtocolValues);
+                    subProtocol = MqttSubProtocolSelector.SelectSubProtocol(requestedSubProtocolValues);
                 }
 
                 var adapter = app.ApplicationServices.GetRequiredService<MqttWebSocketServerAdapter>();
@@ -37,14 +36,6 @@ namespace MQTTnet.AspNetCore
             return app;
         }
 
-        public static string SelectSubProtocol(IList<string> requestedSubProtocolValues)
-        {
-            // Order the protocols to also match "mqtt", "mqttv-3.1", "mqttv-3.11" etc.
-            return requestedSubProtocolValues
-                .OrderByDescending(p => p.Length)
-                .FirstOrDefault(p => p.ToLower().StartsWith("mqtt"));
-        }
-
         public static IApplicationBuilder UseMqttServer(this IApplicationBuilder app, Action<IMqttServer> configure)
         {
             var server = app.ApplicationServices.GetRequiredService<IMqttServer>();
diff --git a/Source/MQTTnet.AspnetCore/ConnectionBuilderExtensions.cs b/Source/MQTTnet.AspnetCore/Extensions/ConnectionBuilderExtensions.cs
similarity index 100%
rename from Source/MQTTnet.AspnetCore/ConnectionBuilderExtensions.cs
rename to Source/MQTTnet.AspnetCore/Extensions/ConnectionBuilderExtensions.cs
diff --git a/Source/MQTTnet.AspnetCore/Extensions/ConnectionRouteBuilderExtensions.cs b/Source/MQTTnet.AspnetCore/Extensions/ConnectionRouteBuilderExtensions.cs
new file mode 100644
index 00000000..d6749884
--- /dev/null
+++ b/Source/MQTTnet.AspnetCore/Extensions/ConnectionRouteBuilderExtensions.cs
@@ -0,0 +1,20 @@
+using Microsoft.AspNetCore.Http;
+using Microsoft.AspNetCore.Http.Connections;
+using System;
+
+namespace MQTTnet.AspNetCore
+{
+    public static class ConnectionRouteBuilderExtensions
+    {
+#if NETCOREAPP3_1
+        [Obsolete("This class is obsolete and will be removed in a future version. The recommended alternative is to use MapMqtt inside Microsoft.AspNetCore.Builder.UseEndpoints(...).")]
+#endif
+        public static void MapMqtt(this ConnectionsRouteBuilder connection, PathString path)
+        {
+            connection.MapConnectionHandler<MqttConnectionHandler>(path, options =>
+            {
+                options.WebSockets.SubProtocolSelector = MqttSubProtocolSelector.SelectSubProtocol;
+            });
+        }
+    }
+}
diff --git a/Source/MQTTnet.AspnetCore/Extensions/EndpointRouterExtensions.cs b/Source/MQTTnet.AspnetCore/Extensions/EndpointRouterExtensions.cs
new file mode 100644
index 00000000..d2a28054
--- /dev/null
+++ b/Source/MQTTnet.AspnetCore/Extensions/EndpointRouterExtensions.cs
@@ -0,0 +1,21 @@
+
+#if NETCOREAPP3_1
+
+using Microsoft.AspNetCore.Builder;
+using Microsoft.AspNetCore.Routing;
+
+namespace MQTTnet.AspNetCore
+{
+    public static class EndpointRouterExtensions
+    {
+        public static void MapMqtt(this IEndpointRouteBuilder endpoints, string pattern) 
+        {
+            endpoints.MapConnectionHandler<MqttConnectionHandler>(pattern, options =>
+            {
+                options.WebSockets.SubProtocolSelector = MqttSubProtocolSelector.SelectSubProtocol;
+            });
+        }
+    }
+}
+
+#endif
diff --git a/Source/MQTTnet.AspnetCore/ReaderExtensions.cs b/Source/MQTTnet.AspnetCore/Extensions/ReaderExtensions.cs
similarity index 100%
rename from Source/MQTTnet.AspnetCore/ReaderExtensions.cs
rename to Source/MQTTnet.AspnetCore/Extensions/ReaderExtensions.cs
diff --git a/Source/MQTTnet.AspnetCore/ServiceCollectionExtensions.cs b/Source/MQTTnet.AspnetCore/Extensions/ServiceCollectionExtensions.cs
similarity index 100%
rename from Source/MQTTnet.AspnetCore/ServiceCollectionExtensions.cs
rename to Source/MQTTnet.AspnetCore/Extensions/ServiceCollectionExtensions.cs
index d9d9fdb8..8606142f 100644
--- a/Source/MQTTnet.AspnetCore/ServiceCollectionExtensions.cs
+++ b/Source/MQTTnet.AspnetCore/Extensions/ServiceCollectionExtensions.cs
@@ -1,10 +1,10 @@
 using System;
-using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using MQTTnet.Adapter;
 using MQTTnet.Diagnostics;
 using MQTTnet.Server;
 using MQTTnet.Implementations;
+using Microsoft.Extensions.DependencyInjection;
 
 namespace MQTTnet.AspNetCore
 {
diff --git a/Source/MQTTnet.AspnetCore/MqttHostedServer.cs b/Source/MQTTnet.AspnetCore/MqttHostedServer.cs
index 4b6b436b..323c4956 100644
--- a/Source/MQTTnet.AspnetCore/MqttHostedServer.cs
+++ b/Source/MQTTnet.AspnetCore/MqttHostedServer.cs
@@ -21,7 +21,8 @@ namespace MQTTnet.AspNetCore
 
         public Task StartAsync(CancellationToken cancellationToken)
         {
-            return StartAsync(_options);
+            _ = StartAsync(_options);
+            return Task.CompletedTask;
         }
 
         public Task StopAsync(CancellationToken cancellationToken)
diff --git a/Source/MQTTnet.AspnetCore/MqttSubProtocolSelector.cs b/Source/MQTTnet.AspnetCore/MqttSubProtocolSelector.cs
new file mode 100644
index 00000000..d400ab3d
--- /dev/null
+++ b/Source/MQTTnet.AspnetCore/MqttSubProtocolSelector.cs
@@ -0,0 +1,16 @@
+using System.Collections.Generic;
+using System.Linq;
+
+namespace MQTTnet.AspNetCore
+{
+    public static class MqttSubProtocolSelector
+    {
+        public static string SelectSubProtocol(IList<string> requestedSubProtocolValues)
+        {
+            // Order the protocols to also match "mqtt", "mqttv-3.1", "mqttv-3.11" etc.
+            return requestedSubProtocolValues
+                .OrderByDescending(p => p.Length)
+                .FirstOrDefault(p => p.ToLower().StartsWith("mqtt"));
+        }
+    }
+}
diff --git a/Tests/MQTTnet.Benchmarks/MQTTnet.Benchmarks.csproj b/Tests/MQTTnet.Benchmarks/MQTTnet.Benchmarks.csproj
index b34c5a3a..5d11fac9 100644
--- a/Tests/MQTTnet.Benchmarks/MQTTnet.Benchmarks.csproj
+++ b/Tests/MQTTnet.Benchmarks/MQTTnet.Benchmarks.csproj
@@ -16,7 +16,6 @@
 
   <ItemGroup>
     <ProjectReference Include="..\..\Source\MQTTnet.AspnetCore\MQTTnet.AspNetCore.csproj" />
-    <ProjectReference Include="..\..\Source\MQTTnet\MQTTnet.csproj" />
   </ItemGroup>
 
 </Project>
\ No newline at end of file
diff --git a/Tests/MQTTnet.Benchmarks/MessageProcessingMqttConnectionContextBenchmark.cs b/Tests/MQTTnet.Benchmarks/MessageProcessingMqttConnectionContextBenchmark.cs
index 7bd085c2..87ec1348 100644
--- a/Tests/MQTTnet.Benchmarks/MessageProcessingMqttConnectionContextBenchmark.cs
+++ b/Tests/MQTTnet.Benchmarks/MessageProcessingMqttConnectionContextBenchmark.cs
@@ -26,11 +26,8 @@ namespace MQTTnet.Benchmarks
             _host = WebHost.CreateDefaultBuilder()
                    .UseKestrel(o => o.ListenAnyIP(1883, l => l.UseMqtt()))
                    .ConfigureServices(services => {
-                       var mqttServerOptions = new MqttServerOptionsBuilder()
-                            .WithoutDefaultEndpoint()
-                            .Build();
                         services
-                            .AddHostedMqttServer(mqttServerOptions)
+                            .AddHostedMqttServer(mqttServerOptions => mqttServerOptions.WithoutDefaultEndpoint())
                             .AddMqttConnectionHandler();
                    })
                    .Configure(app => {
diff --git a/Tests/MQTTnet.TestApp.AspNetCore2/MQTTnet.TestApp.AspNetCore2.csproj b/Tests/MQTTnet.TestApp.AspNetCore2/MQTTnet.TestApp.AspNetCore2.csproj
index 5c0aacde..b5208f63 100644
--- a/Tests/MQTTnet.TestApp.AspNetCore2/MQTTnet.TestApp.AspNetCore2.csproj
+++ b/Tests/MQTTnet.TestApp.AspNetCore2/MQTTnet.TestApp.AspNetCore2.csproj
@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk.Web">
 
   <PropertyGroup>
-    <TargetFramework>netcoreapp3.1</TargetFramework>
+    <TargetFrameworks>net461;netcoreapp2.1;netcoreapp3.1</TargetFrameworks>
     <TypeScriptToolsVersion>Latest</TypeScriptToolsVersion>
   </PropertyGroup>
 
diff --git a/Tests/MQTTnet.TestApp.AspNetCore2/Program.cs b/Tests/MQTTnet.TestApp.AspNetCore2/Program.cs
index 5248ce61..aed19b43 100644
--- a/Tests/MQTTnet.TestApp.AspNetCore2/Program.cs
+++ b/Tests/MQTTnet.TestApp.AspNetCore2/Program.cs
@@ -1,19 +1,21 @@
 using Microsoft.AspNetCore;
 using Microsoft.AspNetCore.Hosting;
 using MQTTnet.AspNetCore;
+using System.Threading.Tasks;
 
 namespace MQTTnet.TestApp.AspNetCore2
 {
     public static class Program
     {
-        public static void Main(string[] args)
+        public static Task Main(string[] args)
         {
-            BuildWebHost(args).Run();
+            return BuildWebHost(args).RunAsync();
         }
 
         private static IWebHost BuildWebHost(string[] args) =>
             WebHost.CreateDefaultBuilder(args)
-                .UseKestrel(o => {
+                .UseKestrel(o =>
+                {
                     o.ListenAnyIP(1883, l => l.UseMqtt());
                     o.ListenAnyIP(5000); // default http pipeline
                 })
diff --git a/Tests/MQTTnet.TestApp.AspNetCore2/Startup.cs b/Tests/MQTTnet.TestApp.AspNetCore2/Startup.cs
index 3a58acf7..0965f0d2 100644
--- a/Tests/MQTTnet.TestApp.AspNetCore2/Startup.cs
+++ b/Tests/MQTTnet.TestApp.AspNetCore2/Startup.cs
@@ -1,10 +1,13 @@
 using System;
 using System.IO;
+using System.Reflection;
+using System.Runtime.Versioning;
 using System.Threading.Tasks;
 using Microsoft.AspNetCore.Builder;
 using Microsoft.AspNetCore.Hosting;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.FileProviders;
+using Microsoft.Extensions.Logging;
 using MQTTnet.AspNetCore;
 using MQTTnet.Server;
 
@@ -16,29 +19,37 @@ namespace MQTTnet.TestApp.AspNetCore2
 
         public void ConfigureServices(IServiceCollection services)
         {
-            var mqttServerOptions = new MqttServerOptionsBuilder()
-                .WithoutDefaultEndpoint()
-                .Build();
             services
-                .AddHostedMqttServer(mqttServerOptions)
+                .AddHostedMqttServer(mqttServer => mqttServer.WithoutDefaultEndpoint())
                 .AddMqttConnectionHandler()
                 .AddConnections();
         }
 
-        // In class _Startup_ of the ASP.NET Core 2.0 project.
+        // In class _Startup_ of the ASP.NET Core 3.1 project.
+#if NETCOREAPP3_1
+        public void Configure(IApplicationBuilder app, IWebHostEnvironment env)
+        {
+            app.UseRouting();
+
+            app.UseEndpoints(endpoints =>
+            {
+                endpoints.MapMqtt("/mqtt");
+            });
+#else 
         public void Configure(IApplicationBuilder app, IHostingEnvironment env)
         {
-            app.UseConnections(c => c.MapConnectionHandler<MqttConnectionHandler>("/mqtt", options => {
-                options.WebSockets.SubProtocolSelector = MQTTnet.AspNetCore.ApplicationBuilderExtensions.SelectSubProtocol;
-            }));
+            app.UseConnections(c => c.MapMqtt("/mqtt"));
+#endif
 
-            //app.UseMqttEndpoint();
             app.UseMqttServer(server =>
             {
                 server.StartedHandler = new MqttServerStartedHandlerDelegate(async args =>
                 {
+                    var frameworkName = GetType().Assembly.GetCustomAttribute<TargetFrameworkAttribute>()?
+                        .FrameworkName;
+
                     var msg = new MqttApplicationMessageBuilder()
-                        .WithPayload("Mqtt is awesome")
+                        .WithPayload($"Mqtt hosted on {frameworkName} is awesome")
                         .WithTopic("message");
 
                     while (true)
@@ -46,7 +57,7 @@ namespace MQTTnet.TestApp.AspNetCore2
                         try
                         {
                             await server.PublishAsync(msg.Build());
-                            msg.WithPayload("Mqtt is still awesome at " + DateTime.Now);
+                            msg.WithPayload($"Mqtt hosted on {frameworkName} is still awesome at {DateTime.Now}");
                         }
                         catch (Exception e)
                         {