diff --git a/en/flying/basic_flying_fw.md b/en/flying/basic_flying_fw.md
index 2e80731f4f0c..3f9f4a749585 100644
--- a/en/flying/basic_flying_fw.md
+++ b/en/flying/basic_flying_fw.md
@@ -9,12 +9,13 @@ Before you fly for the first time you should read our [First Flight Guidelines](
 ## Arm the Vehicle
 
 Before you can fly the vehicle it must first be [armed](../getting_started/px4_basic_concepts.md#arming-and-disarming).
-This will power all motors and actuators, and start any propellers turning.
+This will power all motors and actuators, and may start propellers turning.
 
 To arm the drone:
 
-- First disengage the [safety switch](../getting_started/px4_basic_concepts.md#safety-switch).
-- Use the arm command for your vehicle - put the throttle stick in the bottom right corner.
+- First disengage the [safety switch](../getting_started/px4_basic_concepts.md#safety-switch) (if present).
+- Use the arm command for your vehicle
+  - Put the throttle stick in the bottom right corner (use the [arming gesture](../advanced_config/prearm_arm_disarm.md#arm_disarm_gestures)).
   - Alternatively configure an [arm/disarm switch](../config/safety.md#arm-disarm-switch).
   - You can also arm in _QGroundControl_ (PX4 does not require a radio control for flying autonomously).
 
diff --git a/en/flying/basic_flying_mc.md b/en/flying/basic_flying_mc.md
index cc2c87ef2182..0f5b78c93739 100644
--- a/en/flying/basic_flying_mc.md
+++ b/en/flying/basic_flying_mc.md
@@ -9,12 +9,14 @@ Before you fly for the first time you should read our [First Flight Guidelines](
 ## Arm the Vehicle
 
 Before you can fly the vehicle it must first be [armed](../getting_started/px4_basic_concepts.md#arming-and-disarming).
-This will power all motors and actuators and start propellers turning.
+This will power all motors and actuators.
+Unless you're doing a [Throw Launch](../flight_modes_mc/throw_launch.md) the propellers will also start turning.
 
 To arm the drone:
 
-- First disengage the [safety switch](../getting_started/px4_basic_concepts.md#safety-switch).
-- Use the arm command for your vehicle - put the throttle stick in the bottom right corner.
+- First disengage the [safety switch](../getting_started/px4_basic_concepts.md#safety-switch) (if present).
+- Use the arm command for your vehicle:
+  - Put the throttle stick in the bottom right corner (use the [arming gesture](../advanced_config/prearm_arm_disarm.md#arm_disarm_gestures)).
   - Alternatively configure an [arm/disarm switch](../config/safety.md#arm-disarm-switch).
   - You can also arm in _QGroundControl_ (PX4 does not require a radio control for flying autonomously).
 
diff --git a/en/getting_started/px4_basic_concepts.md b/en/getting_started/px4_basic_concepts.md
index c9b47382cd55..e3b17fc4edcd 100644
--- a/en/getting_started/px4_basic_concepts.md
+++ b/en/getting_started/px4_basic_concepts.md
@@ -280,10 +280,12 @@ For more information see: [Payloads & Cameras](../payloads/index.md)
 ## Arming and Disarming
 
 A vehicle is said to be _armed_ when all motors and actuators are powered, and _disarmed_ when nothing is powered.
-There is also a _prearmed_ state when only actuators are powered.
+There is also a _prearmed_ state when only servo actuators are powered, which is primarily used for testing.
+
+A vehicle is usually disarmed on the ground, and must be armed before taking off in the current flight mode.
 
 :::warning
-Armed vehicles can be dangerous as propellors will be spinning.
+Armed vehicles are dangerous because propellers can start spinning at any time without further user input, and in many cases will start spinning immediately.
 :::
 
 Arming and disarming are triggered by default using RC stick _gestures_.