diff --git a/platform-mc/terminus.cpp b/platform-mc/terminus.cpp
index d59ac26..ba299be 100644
--- a/platform-mc/terminus.cpp
+++ b/platform-mc/terminus.cpp
@@ -291,7 +291,7 @@
             std::fill(std::begin(alignedBuffer), std::end(alignedBuffer), 0);
             if (u16NameStringLen > PLDM_STR_UTF_16_MAX_LEN)
             {
-                lg2::error("Sensor name to long.");
+                lg2::error("Sensor name too long.");
                 return nullptr;
             }
             memcpy(alignedBuffer, ptr, u16NameStringLen * sizeof(uint16_t));
@@ -391,7 +391,6 @@
 void Terminus::addNumericSensor(
     const std::shared_ptr<pldm_numeric_sensor_value_pdr> pdr)
 {
-    uint16_t sensorId = pdr->sensor_id;
     if (terminusName.empty())
     {
         lg2::error(
@@ -399,29 +398,28 @@
             "TID", tid);
         return;
     }
-    std::string sensorName =
-        terminusName + "_" + "Sensor_" + std::to_string(pdr->sensor_id);
 
-    if (pdr->sensor_auxiliary_names_pdr)
+    if (!pdr)
     {
-        auto sensorAuxiliaryNames = getSensorAuxiliaryNames(sensorId);
-        if (sensorAuxiliaryNames)
-        {
-            const auto& [sensorId, sensorCnt, sensorNames] =
-                *sensorAuxiliaryNames;
-            if (sensorCnt == 1)
-            {
-                for (const auto& [languageTag, name] : sensorNames[0])
-                {
-                    if (languageTag == "en" && !name.empty())
-                    {
-                        sensorName = terminusName + "_" + name;
-                    }
-                }
-            }
-        }
+        lg2::error(
+            "Terminus ID {TID}: Skip adding Numeric Sensor - invalid pointer to PDR.",
+            "TID", tid);
+        return;
     }
 
+    auto sensorId = pdr->sensor_id;
+    auto sensorNames = getSensorNames(sensorId);
+
+    if (sensorNames.empty())
+    {
+        lg2::error(
+            "Terminus ID {TID}: Failed to get name for Numeric Sensor {SID}",
+            "TID", tid, "SID", sensorId);
+        return;
+    }
+
+    std::string sensorName = sensorNames.front();
+
     try
     {
         auto sensor = std::make_shared<NumericSensor>(
@@ -505,7 +503,6 @@
 void Terminus::addCompactNumericSensor(
     const std::shared_ptr<pldm_compact_numeric_sensor_pdr> pdr)
 {
-    uint16_t sensorId = pdr->sensor_id;
     if (terminusName.empty())
     {
         lg2::error(
@@ -513,25 +510,28 @@
             "TID", tid);
         return;
     }
-    std::string sensorName =
-        terminusName + "_" + "Sensor_" + std::to_string(pdr->sensor_id);
 
-    auto sensorAuxiliaryNames = getSensorAuxiliaryNames(sensorId);
-    if (sensorAuxiliaryNames)
+    if (!pdr)
     {
-        const auto& [sensorId, sensorCnt, sensorNames] = *sensorAuxiliaryNames;
-        if (sensorCnt == 1)
-        {
-            for (const auto& [languageTag, name] : sensorNames[0])
-            {
-                if (languageTag == "en" && !name.empty())
-                {
-                    sensorName = terminusName + "_" + name;
-                }
-            }
-        }
+        lg2::error(
+            "Terminus ID {TID}: Skip adding Compact Numeric Sensor - invalid pointer to PDR.",
+            "TID", tid);
+        return;
     }
 
+    auto sensorId = pdr->sensor_id;
+    auto sensorNames = getSensorNames(sensorId);
+
+    if (sensorNames.empty())
+    {
+        lg2::error(
+            "Terminus ID {TID}: Failed to get name for Compact Numeric Sensor {SID}",
+            "TID", tid, "SID", sensorId);
+        return;
+    }
+
+    std::string sensorName = sensorNames.front();
+
     try
     {
         auto sensor = std::make_shared<NumericSensor>(
@@ -707,5 +707,51 @@
     }
 }
 
+std::vector<std::string> Terminus::getSensorNames(const SensorId& sensorId)
+{
+    std::vector<std::string> sensorNames;
+    std::string defaultName =
+        std::format("{}_Sensor_{}", terminusName, unsigned(sensorId));
+    // To ensure there's always a default name at offset 0
+    sensorNames.emplace_back(defaultName);
+
+    auto sensorAuxiliaryNames = getSensorAuxiliaryNames(sensorId);
+    if (!sensorAuxiliaryNames)
+    {
+        return sensorNames;
+    }
+
+    const auto& [id, sensorCount, nameMap] = *sensorAuxiliaryNames;
+    for (const unsigned int& i :
+         std::views::iota(0, static_cast<int>(sensorCount)))
+    {
+        auto sensorName = defaultName;
+        if (i > 0)
+        {
+            // Sensor name at offset 0 will be the default name
+            sensorName += "_" + std::to_string(i);
+        }
+
+        for (const auto& [languageTag, name] : nameMap[i])
+        {
+            if (languageTag == "en" && !name.empty())
+            {
+                sensorName = std::format("{}_{}", terminusName, name);
+            }
+        }
+
+        if (i >= sensorNames.size())
+        {
+            sensorNames.emplace_back(sensorName);
+        }
+        else
+        {
+            sensorNames[i] = sensorName;
+        }
+    }
+
+    return sensorNames;
+}
+
 } // namespace platform_mc
 } // namespace pldm
diff --git a/platform-mc/terminus.hpp b/platform-mc/terminus.hpp
index da3d919..6e3f859 100644
--- a/platform-mc/terminus.hpp
+++ b/platform-mc/terminus.hpp
@@ -275,6 +275,15 @@
      */
     bool createInventoryPath(std::string tName);
 
+    /** @brief Get sensor names from Sensor Auxiliary Names PDRs
+     *
+     *  @param[in] sensorId - Sensor ID
+     *  @param[in] isEffecter - This is an effecter, not a sensor
+     *  @return vector of sensor name strings
+     *
+     */
+    std::vector<std::string> getSensorNames(const SensorId& sensorId);
+
     /* @brief The terminus's TID */
     pldm_tid_t tid;