diff --git a/mesa/agent.py b/mesa/agent.py
index e65b25f69c2..8805673193d 100644
--- a/mesa/agent.py
+++ b/mesa/agent.py
@@ -11,6 +11,7 @@
 import contextlib
 import copy
 import operator
+import warnings
 import weakref
 from collections.abc import Callable, Iterable, Iterator, MutableSet, Sequence
 from random import Random
@@ -216,25 +217,64 @@ def _update(self, agents: Iterable[Agent]):
         self._agents = weakref.WeakKeyDictionary({agent: None for agent in agents})
         return self
 
-    def do(
-        self, method: str | Callable, *args, return_results: bool = False, **kwargs
-    ) -> AgentSet | list[Any]:
+    def do(self, method: str | Callable, *args, **kwargs) -> AgentSet:
         """
         Invoke a method or function on each agent in the AgentSet.
 
         Args:
-            method (str, callable): the callable to do on each agents
+            method (str, callable): the callable to do on each agent
 
                                         * in case of str, the name of the method to call on each agent.
                                         * in case of callable, the function to be called with each agent as first argument
 
-            return_results (bool, optional): If True, returns the results of the method calls; otherwise, returns the AgentSet itself. Defaults to False, so you can chain method calls.
             *args: Variable length argument list passed to the callable being called.
             **kwargs: Arbitrary keyword arguments passed to the callable being called.
 
         Returns:
             AgentSet | list[Any]: The results of the callable calls if return_results is True, otherwise the AgentSet itself.
         """
+        try:
+            return_results = kwargs.pop("return_results")
+        except KeyError:
+            return_results = False
+        else:
+            warnings.warn(
+                "Using return_results is deprecated. Use AgenSet.do in case of return_results=False, and "
+                "AgentSet.map in case of return_results=True",
+                stacklevel=2,
+            )
+
+        if return_results:
+            return self.map(method, *args, **kwargs)
+
+        # we iterate over the actual weakref keys and check if weakref is alive before calling the method
+        if isinstance(method, str):
+            for agentref in self._agents.keyrefs():
+                if (agent := agentref()) is not None:
+                    getattr(agent, method)(*args, **kwargs)
+        else:
+            for agentref in self._agents.keyrefs():
+                if (agent := agentref()) is not None:
+                    method(agent, *args, **kwargs)
+
+        return self
+
+    def map(self, method: str | Callable, *args, **kwargs) -> list[Any]:
+        """
+        Invoke a method or function on each agent in the AgentSet and return the results.
+
+        Args:
+            method (str, callable): the callable to apply on each agent
+
+                                        * in case of str, the name of the method to call on each agent.
+                                        * in case of callable, the function to be called with each agent as first argument
+
+            *args: Variable length argument list passed to the callable being called.
+            **kwargs: Arbitrary keyword arguments passed to the callable being called.
+
+        Returns:
+           list[Any]: The results of the callable calls
+        """
         # we iterate over the actual weakref keys and check if weakref is alive before calling the method
         if isinstance(method, str):
             res = [
@@ -249,7 +289,7 @@ def do(
                 if (agent := agentref()) is not None
             ]
 
-        return res if return_results else self
+        return res
 
     def get(self, attr_names: str | list[str]) -> list[Any]:
         """
diff --git a/tests/test_agent.py b/tests/test_agent.py
index f4e64ce5338..1541a46b6c2 100644
--- a/tests/test_agent.py
+++ b/tests/test_agent.py
@@ -83,12 +83,6 @@ def test_function(agent):
     assert all(
         a1 == a2.unique_id for a1, a2 in zip(agentset.get("unique_id"), agentset)
     )
-    assert all(
-        a1 == a2.unique_id
-        for a1, a2 in zip(
-            agentset.do("get_unique_identifier", return_results=True), agentset
-        )
-    )
     assert agentset == agentset.do("get_unique_identifier")
 
     agentset.discard(agents[0])
@@ -276,6 +270,35 @@ def remove_function(agent):
     assert len(agentset) == 0
 
 
+def test_agentset_map_str():
+    model = Model()
+    agents = [TestAgent(model.next_id(), model) for _ in range(10)]
+    agentset = AgentSet(agents, model)
+
+    with pytest.raises(AttributeError):
+        agentset.do("non_existing_method")
+
+    results = agentset.map("get_unique_identifier")
+    assert all(i == entry for i, entry in zip(results, range(1, 11)))
+
+
+def test_agentset_map_callable():
+    model = Model()
+    agents = [TestAgent(model.next_id(), model) for _ in range(10)]
+    agentset = AgentSet(agents, model)
+
+    # Test callable with non-existent function
+    with pytest.raises(AttributeError):
+        agentset.map(lambda agent: agent.non_existing_method())
+
+    # tests for addition and removal in do using callables
+    # do iterates, so no error should be raised to change size while iterating
+    # related to issue #1595
+
+    results = agentset.map(lambda agent: agent.unique_id)
+    assert all(i == entry for i, entry in zip(results, range(1, 11)))
+
+
 def test_agentset_get_attribute():
     model = Model()
     agents = [TestAgent(model.next_id(), model) for _ in range(10)]