diff --git a/avocado/core/nrunner/runnable.py b/avocado/core/nrunner/runnable.py
index 606330239e..7669f5835b 100644
--- a/avocado/core/nrunner/runnable.py
+++ b/avocado/core/nrunner/runnable.py
@@ -1,10 +1,12 @@
 import base64
 import collections
+import copy
 import json
 import logging
 import os
 import subprocess
 import sys
+import warnings
 
 import pkg_resources
 
@@ -96,13 +98,14 @@ def __init__(self, kind, uri, *args, config=None, identifier=None, **kwargs):
         #: test or being the test, or an actual URI with multiple
         #: parts
         self.uri = uri
+        #: This attributes holds default configuration values that the
+        #: runner has determined that has interest in by setting it in
+        #: attr:`avocado.core.nrunner.runner.BaseRunner.CONFIGURATION_USED`
+        self._default_config = self.filter_runnable_config(kind, {})
         #: This attributes holds configuration from Avocado proper
         #: that is passed to runners, as long as a runner declares
         #: its interest in using them with
         #: attr:`avocado.core.nrunner.runner.BaseRunner.CONFIGURATION_USED`
-        self._config = {}
-        if config is None:
-            config = self.filter_runnable_config(kind, {})
         self.config = config or {}
         self.args = args
         self.tags = kwargs.pop("tags", None)
@@ -183,7 +186,30 @@ def identifier(self):
 
     @property
     def config(self):
-        return self._config
+        if not self._config:
+            return self._default_config
+        config_with_defaults = copy.copy(self._default_config)
+        config_with_defaults.update(self._config)
+        return config_with_defaults
+
+    @property
+    def default_config(self):
+        return self._default_config
+
+    def _config_setter_warning(self, config, default_config=False):
+        configuration_used = Runnable.get_configuration_used_by_kind(self.kind)
+        if default_config:
+            if set(configuration_used) == (set(config.keys())):
+                return
+        else:
+            if set(config.keys()).issubset(set(configuration_used)):
+                return
+        LOG.warning(
+            "The runnable config should have only values "
+            "essential for its runner. In the next version of "
+            "avocado, this will raise a ValueError. Please "
+            "use avocado.core.nrunner.runnable.Runnable.filter_runnable_config"
+        )
 
     @config.setter
     def config(self, config):
@@ -196,22 +222,31 @@ def config(self, config):
         :param config: A config dict with new values for Runnable.
         :type config: dict
         """
-        configuration_used = Runnable.get_configuration_used_by_kind(self.kind)
-        if not set(configuration_used).issubset(set(config.keys())):
-            LOG.warning(
-                "The runnable config should have only values "
-                "essential for its runner. In the next version of "
-                "avocado, this will raise a Value Error. Please "
-                "use avocado.core.nrunner.runnable.Runnable.filter_runnable_config "
-                "or avocado.core.nrunner.runnable.Runnable.from_avocado_config"
-            )
+        self._config_setter_warning(config)
         self._config = config
 
+    @default_config.setter
+    def default_config(self, config):
+        """Sets the default config values based on the runnable kind.
+
+        This is not avocado config, it is a runnable config which is a subset
+        of avocado config based on `STANDALONE_EXECUTABLE_CONFIG_USED` which
+        describes essential configuration values for each runner kind.
+
+        These values are used as convenience if other values are not set
+        in the actual :attr:`config` itself.
+
+        :param config: A config dict with default values for this Runnable.
+        :type config: dict
+        """
+        self._config_setter_warning(config, True)
+        self._default_config = config
+
     @classmethod
     def from_args(cls, args):
         """Returns a runnable from arguments"""
         decoded_args = [_arg_decode_base64(arg) for arg in args.get("arg", ())]
-        return cls.from_avocado_config(
+        return cls(
             args.get("kind"),
             args.get("uri"),
             *decoded_args,
@@ -277,7 +312,7 @@ def from_dict(cls, recipe_dict):
         """
         cls._validate_recipe(recipe_dict)
         config = ConfigDecoder.decode_set(recipe_dict.get("config", {}))
-        return cls.from_avocado_config(
+        return cls(
             recipe_dict.get("kind"),
             recipe_dict.get("uri"),
             *recipe_dict.get("args", ()),
@@ -304,9 +339,11 @@ def from_avocado_config(
         cls, kind, uri, *args, config=None, identifier=None, **kwargs
     ):
         """Creates runnable with only essential config for runner of specific kind."""
-        if not config:
-            config = {}
-        config = cls.filter_runnable_config(kind, config)
+        warnings.warn(
+            "from_avocado_config() is deprecated, please use the regular "
+            "class initialization as it has the same behavior.",
+            DeprecationWarning,
+        )
         return cls(kind, uri, *args, config=config, identifier=identifier, **kwargs)
 
     @classmethod
@@ -327,7 +364,7 @@ def get_configuration_used_by_kind(cls, kind):
             if command is not None:
                 command = " ".join(command)
                 configuration_used = STANDALONE_EXECUTABLE_CONFIG_USED.get(command)
-        return configuration_used
+        return configuration_used + CONFIGURATION_USED
 
     @classmethod
     def filter_runnable_config(cls, kind, config):
@@ -349,7 +386,7 @@ def filter_runnable_config(cls, kind, config):
         """
         whole_config = settings.as_dict()
         filtered_config = {}
-        config_items = cls.get_configuration_used_by_kind(kind) + CONFIGURATION_USED
+        config_items = cls.get_configuration_used_by_kind(kind)
         for config_item in config_items:
             filtered_config[config_item] = config.get(
                 config_item, whole_config.get(config_item)
diff --git a/avocado/core/suite.py b/avocado/core/suite.py
index 88949f526d..286c532406 100644
--- a/avocado/core/suite.py
+++ b/avocado/core/suite.py
@@ -76,7 +76,9 @@ def resolutions_to_runnables(resolutions, config):
         if resolution.result != ReferenceResolutionResult.SUCCESS:
             continue
         for runnable in resolution.resolutions:
-            runnable.config = runnable.filter_runnable_config(runnable.kind, config)
+            runnable.default_config = runnable.filter_runnable_config(
+                runnable.kind, config
+            )
             result.append(runnable)
     return result
 
diff --git a/avocado/plugins/sysinfo.py b/avocado/plugins/sysinfo.py
index 515d7e4469..a6ee797cfc 100644
--- a/avocado/plugins/sysinfo.py
+++ b/avocado/plugins/sysinfo.py
@@ -220,7 +220,7 @@ def pre_test_runnables(self, test_runnable, suite_config=None):
             return []
         sysinfo_config = sysinfo.gather_collectibles_config(suite_config)
         return [
-            Runnable.from_avocado_config(
+            Runnable(
                 "sysinfo",
                 "pre",
                 config=suite_config,
@@ -237,7 +237,7 @@ def post_test_runnables(self, test_runnable, suite_config=None):
         sysinfo_config = sysinfo.gather_collectibles_config(suite_config)
         return [
             (
-                Runnable.from_avocado_config(
+                Runnable(
                     "sysinfo",
                     "post",
                     config=suite_config,
@@ -249,7 +249,7 @@ def post_test_runnables(self, test_runnable, suite_config=None):
                 ["pass"],
             ),
             (
-                Runnable.from_avocado_config(
+                Runnable(
                     "sysinfo",
                     "post",
                     config=suite_config,
diff --git a/examples/nrunner/recipes/runnable/noop_config.json b/examples/nrunner/recipes/runnable/noop_config.json
new file mode 100644
index 0000000000..009060233a
--- /dev/null
+++ b/examples/nrunner/recipes/runnable/noop_config.json
@@ -0,0 +1 @@
+{"kind": "noop", "uri": "noop", "config": {"runner.identifier_format": "nothing-op"}}
diff --git a/selftests/check.py b/selftests/check.py
index 52368ce2ca..ea81932dfa 100755
--- a/selftests/check.py
+++ b/selftests/check.py
@@ -27,7 +27,7 @@
     "job-api-7": 1,
     "nrunner-interface": 70,
     "nrunner-requirement": 28,
-    "unit": 672,
+    "unit": 678,
     "jobs": 11,
     "functional-parallel": 307,
     "functional-serial": 7,
diff --git a/selftests/functional/resolver.py b/selftests/functional/resolver.py
index 6b0eea5ee8..f9b64449db 100644
--- a/selftests/functional/resolver.py
+++ b/selftests/functional/resolver.py
@@ -183,7 +183,7 @@ def test_runnables_recipe(self):
 ==================
 asset: 1
 exec-test: 3
-noop: 2
+noop: 3
 package: 1
 python-unittest: 1
 sysinfo: 1"""
diff --git a/selftests/unit/runnable.py b/selftests/unit/runnable.py
index 824ea0d333..303dce5354 100644
--- a/selftests/unit/runnable.py
+++ b/selftests/unit/runnable.py
@@ -1,5 +1,6 @@
 import unittest.mock
 
+import avocado.core.nrunner.runnable as runnable_mod
 from avocado.core.nrunner.runnable import Runnable
 
 
@@ -146,6 +147,44 @@ def test_config(self):
             runnable.config.get("runner.identifier_format"), "{uri}-{args[0]}"
         )
 
+    def test_config_at_init(self):
+        runnable = Runnable("exec-test", "/bin/sh")
+        self.assertEqual(
+            set(runnable.config.keys()),
+            set(
+                [
+                    "run.keep_tmp",
+                    "runner.exectest.exitcodes.skip",
+                    "runner.exectest.clear_env",
+                    "runner.identifier_format",
+                ]
+            ),
+        )
+
+    def test_config_warn_if_not_used(self):
+        runnable = Runnable("exec-test", "/bin/sh")
+        with unittest.mock.patch.object(runnable_mod.LOG, "warning") as log_mock:
+            runnable.config = {"some-unused-config": "foo"}
+        log_mock.assert_called_once()
+
+    def test_config_dont_warn_if_used(self):
+        with unittest.mock.patch.object(runnable_mod.LOG, "warning") as log_mock:
+            Runnable("noop", "noop", config={"runner.identifier_format": "noop"})
+        log_mock.assert_not_called()
+
+    def test_default_config(self):
+        runnable = Runnable("noop", "noop")
+        self.assertEqual(
+            runnable.default_config.get("runner.identifier_format"), "{uri}"
+        )
+
+    def test_default_and_actual_config(self):
+        runnable = Runnable("noop", "noop", config={"runner.identifier_format": "noop"})
+        self.assertEqual(runnable.config.get("runner.identifier_format"), "noop")
+        self.assertEqual(
+            runnable.default_config.get("runner.identifier_format"), "{uri}"
+        )
+
     def test_identifier(self):
         open_mocked = unittest.mock.mock_open(
             read_data=(
diff --git a/selftests/unit/suite.py b/selftests/unit/suite.py
index 51c967e8b9..af91128439 100644
--- a/selftests/unit/suite.py
+++ b/selftests/unit/suite.py
@@ -85,6 +85,17 @@ def test_config_runnable(self):
         runnable = suite.tests[0]
         self.assertEqual(runnable.config.get("runner.identifier_format"), "NOT FOO")
 
+    def test_config_runnable_and_suite(self):
+        config = {
+            "resolver.references": [
+                "examples/nrunner/recipes/runnable/noop_config.json",
+            ],
+            "runner.identifier_format": "NOT FOO",
+        }
+        suite = TestSuite.from_config(config)
+        runnable = suite.tests[0]
+        self.assertEqual(runnable.config.get("runner.identifier_format"), "nothing-op")
+
     def tearDown(self):
         self.tmpdir.cleanup()