diff --git a/parol6/client/sync_client.py b/parol6/client/sync_client.py
index fd94e13..0febb7e 100644
--- a/parol6/client/sync_client.py
+++ b/parol6/client/sync_client.py
@@ -102,7 +102,7 @@ def _run(coro: Coroutine[Any, Any, T]) -> T:
     # A loop is running in this thread; blocking would be unsafe.
     raise RuntimeError(
         "RobotClient was used while an event loop is running.\n"
-        "Use AsyncRobotClient and `await` the method instead."
+        "Construct an AsyncRobotClient in this loop and `await` it instead."
     )
 
 
@@ -166,11 +166,6 @@ def __enter__(self) -> "RobotClient":
     def __exit__(self, exc_type, exc, tb) -> None:
         self.close()
 
-    @property
-    def async_client(self) -> AsyncRobotClient:
-        """Access the underlying async client if you need it."""
-        return self._inner
-
     # Expose common configuration attributes
     @property
     def host(self) -> str:
diff --git a/tests/unit/test_conversions.py b/tests/unit/test_conversions.py
index 28182f9..b4804f9 100644
--- a/tests/unit/test_conversions.py
+++ b/tests/unit/test_conversions.py
@@ -29,7 +29,7 @@ def test_pose_identity_translation(monkeypatch):
     result = _pose_result(mat)
 
     mock_request = AsyncMock(return_value=result)
-    monkeypatch.setattr(client.async_client, "_request", mock_request)
+    monkeypatch.setattr(client._inner, "_request", mock_request)
 
     pose_rpy = client.pose()
     assert pose_rpy is not None
@@ -49,7 +49,7 @@ def test_pose_malformed_payload(monkeypatch):
     client = RobotClient()
 
     mock_request = AsyncMock(return_value=PoseResultStruct(pose=[1, 2, 3]))
-    monkeypatch.setattr(client.async_client, "_request", mock_request)
+    monkeypatch.setattr(client._inner, "_request", mock_request)
 
     pose_rpy = client.pose()
     assert pose_rpy is None