diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index 0cdabdd2bf..553fad2945 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -257,10 +257,10 @@ void auto_init(void)
         dhcpv6_client_auto_init();
     }
 
-    if (IS_USED(MODULE_GNRC_DHCPV6_CLIENT_6LBR)) {
-        LOG_DEBUG("Auto init 6LoWPAN border router DHCPv6 client\n");
-        extern void gnrc_dhcpv6_client_6lbr_init(void);
-        gnrc_dhcpv6_client_6lbr_init();
+    if (IS_USED(MODULE_GNRC_DHCPV6_CLIENT_SIMPLE_PD)) {
+        LOG_DEBUG("Auto init DHCPv6 client for simple prefix delegation\n");
+        extern void gnrc_dhcpv6_client_simple_pd_init(void);
+        gnrc_dhcpv6_client_simple_pd_init();
     }
 
     if (IS_USED(MODULE_AUTO_INIT_MULTIMEDIA)) {
diff --git a/sys/include/net/gnrc/dhcpv6/client/6lbr.h b/sys/include/net/gnrc/dhcpv6/client/simple_pd.h
similarity index 79%
rename from sys/include/net/gnrc/dhcpv6/client/6lbr.h
rename to sys/include/net/gnrc/dhcpv6/client/simple_pd.h
index c35cfd484c..c20697a474 100644
--- a/sys/include/net/gnrc/dhcpv6/client/6lbr.h
+++ b/sys/include/net/gnrc/dhcpv6/client/simple_pd.h
@@ -7,9 +7,10 @@
  */
 
 /**
- * @defgroup    net_dhcpv6_client_6lbr  DHCPv6 client for 6LoWPAN border routers
+ * @defgroup    net_dhcpv6_client_6lbr  DHCPv6 client for simple prefix
+ *              delegation
  * @ingroup     net_dhcpv6_client
- * @brief       DHCPv6 client bootstrapping for 6LoWPAN border routers
+ * @brief       DHCPv6 client bootstrapping for routers & 6LoWPAN border routers
  * @{
  *
  * @file
@@ -17,8 +18,8 @@
  *
  * @author  Martine S. Lenders <m.lenders@fu-berlin.de>
  */
-#ifndef NET_GNRC_DHCPV6_CLIENT_6LBR_H
-#define NET_GNRC_DHCPV6_CLIENT_6LBR_H
+#ifndef NET_GNRC_DHCPV6_CLIENT_SIMPLE_PD_H
+#define NET_GNRC_DHCPV6_CLIENT_SIMPLE_PD_H
 
 #ifdef __cplusplus
 extern "C" {
@@ -60,15 +61,15 @@ extern "C" {
 #endif
 
 /**
- * @brief   Initializes the DHCPv6 client for 6LoWPAN border router
+ * @brief   Initializes the DHCPv6 client for simple prefix delegation
  *
  * @note    Called by `auto_init` when included
  */
-void gnrc_dhcpv6_client_6lbr_init(void);
+void gnrc_dhcpv6_client_simple_pd_init(void);
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif /* NET_GNRC_DHCPV6_CLIENT_6LBR_H */
+#endif /* NET_GNRC_DHCPV6_CLIENT_SIMPLE_PD_H */
 /** @} */
diff --git a/sys/net/gnrc/Makefile.dep b/sys/net/gnrc/Makefile.dep
index 8d76b02003..a91aef7fcf 100644
--- a/sys/net/gnrc/Makefile.dep
+++ b/sys/net/gnrc/Makefile.dep
@@ -52,6 +52,10 @@ ifneq (,$(filter gnrc_dhcpv6_client,$(USEMODULE)))
 endif
 
 ifneq (,$(filter gnrc_dhcpv6_client_6lbr,$(USEMODULE)))
+  USEMODULE += gnrc_dhcpv6_client_simple_pd
+endif
+
+ifneq (,$(filter gnrc_dhcpv6_client_simple_pd,$(USEMODULE)))
   USEMODULE += gnrc_dhcpv6_client
 endif
 
diff --git a/sys/net/gnrc/application_layer/dhcpv6/client.c b/sys/net/gnrc/application_layer/dhcpv6/client.c
index 9dfd1629b4..2c95e3277c 100644
--- a/sys/net/gnrc/application_layer/dhcpv6/client.c
+++ b/sys/net/gnrc/application_layer/dhcpv6/client.c
@@ -18,7 +18,7 @@
 #include "log.h"
 #include "net/arp.h"
 #include "net/dhcpv6.h"
-#include "net/gnrc/dhcpv6/client/6lbr.h"
+#include "net/gnrc/dhcpv6/client/simple_pd.h"
 #include "net/gnrc/ipv6/nib/pl.h"
 #include "net/gnrc/sixlowpan/ctx.h"
 #include "net/gnrc/netif.h"
diff --git a/sys/net/gnrc/application_layer/dhcpv6/client_6lbr.c b/sys/net/gnrc/application_layer/dhcpv6/client_simple_pd.c
similarity index 93%
rename from sys/net/gnrc/application_layer/dhcpv6/client_6lbr.c
rename to sys/net/gnrc/application_layer/dhcpv6/client_simple_pd.c
index 57e776350d..4bdf55b339 100644
--- a/sys/net/gnrc/application_layer/dhcpv6/client_6lbr.c
+++ b/sys/net/gnrc/application_layer/dhcpv6/client_simple_pd.c
@@ -22,7 +22,7 @@
 #include "net/gnrc/ipv6/nib/ft.h"
 #include "net/gnrc/netif/internal.h"
 
-#include "net/gnrc/dhcpv6/client/6lbr.h"
+#include "net/gnrc/dhcpv6/client/simple_pd.h"
 
 #if IS_USED(MODULE_AUTO_INIT_DHCPV6_CLIENT)
 #error "Module `gnrc_dhcpv6_client_6lbr` is mutually exclusive to \
@@ -101,8 +101,13 @@ static void _configure_upstream_netif(gnrc_netif_t *upstream_netif)
 static void _configure_dhcpv6_client(void)
 {
     gnrc_netif_t *netif = NULL;
+    gnrc_netif_t *upstream = _find_upstream_netif();
     while ((netif = gnrc_netif_iter(netif))) {
-        if (gnrc_netif_is_6lo(netif)) {
+        if (IS_USED(MODULE_GNRC_DHCPV6_CLIENT_6LBR)
+            && !gnrc_netif_is_6lo(netif)) {
+            continue;
+        }
+        if (netif != upstream) {
             dhcpv6_client_req_ia_pd(netif->pid, 64U);
         }
     }
@@ -135,7 +140,7 @@ static void *_dhcpv6_cl_6lbr_thread(void *args)
     return NULL;
 }
 
-void gnrc_dhcpv6_client_6lbr_init(void)
+void gnrc_dhcpv6_client_simple_pd_init(void)
 {
     /* start DHCPv6 client thread to request prefix for WPAN */
     thread_create(_stack, DHCPV6_CLIENT_STACK_SIZE,