diff --git a/hj_reachability/dynamics.py b/hj_reachability/dynamics.py
index 1252e55..9073f1f 100644
--- a/hj_reachability/dynamics.py
+++ b/hj_reachability/dynamics.py
@@ -31,11 +31,11 @@ def optimal_control_and_disturbance(self, state, time, grad_value):
 
     def optimal_control(self, state, time, grad_value):
         """Computes the optimal control realized by the HJ PDE Hamiltonian."""
-        return self.optimal_control_and_disturbance(self, state, time, grad_value)[0]
+        return self.optimal_control_and_disturbance(state, time, grad_value)[0]
 
     def optimal_disturbance(self, state, time, grad_value):
         """Computes the optimal disturbance realized by the HJ PDE Hamiltonian."""
-        return self.optimal_control_and_disturbance(self, state, time, grad_value)[1]
+        return self.optimal_control_and_disturbance(state, time, grad_value)[1]
 
     def hamiltonian(self, state, time, value, grad_value):
         """Evaluates the HJ PDE Hamiltonian."""