diff --git a/packages/nuxt/src/app/composables/id.ts b/packages/nuxt/src/app/composables/id.ts
index b754aee636..728ebcf238 100644
--- a/packages/nuxt/src/app/composables/id.ts
+++ b/packages/nuxt/src/app/composables/id.ts
@@ -19,7 +19,7 @@ export function useId (key?: string): string {
 
   if (!instance) {
     // TODO: support auto-incrementing ID for plugins if there is need?
-    throw new TypeError('[nuxt] `useId` must be called within a component.')
+    throw new TypeError('[nuxt] `useId` must be called within a component setup function.')
   }
 
   nuxtApp._id ||= 0
@@ -29,9 +29,6 @@ export function useId (key?: string): string {
   const instanceIndex = key + ':' + instance._nuxtIdIndex[key]++
 
   if (import.meta.server) {
-    if (import.meta.dev && instance.vnode.type && typeof instance.vnode.type === 'object' && 'inheritAttrs' in instance.vnode.type && instance.vnode.type.inheritAttrs === false) {
-      console.warn('[nuxt] `useId` is not compatible with components that have `inheritAttrs: false`.')
-    }
     const ids = JSON.parse(instance.attrs[ATTR_KEY] as string | undefined || '{}')
     ids[instanceIndex] = key + ':' + nuxtApp._id++
     instance.attrs[ATTR_KEY] = JSON.stringify(ids)
@@ -48,6 +45,10 @@ export function useId (key?: string): string {
     if (ids[instanceIndex]) {
       return ids[instanceIndex]
     }
+
+    if (import.meta.dev && instance.vnode.type && typeof instance.vnode.type === 'object' && 'inheritAttrs' in instance.vnode.type && instance.vnode.type.inheritAttrs === false) {
+      console.warn('[nuxt] `useId` might not work correctly with components that have `inheritAttrs: false`.')
+    }
   }
 
   // pure client-side ids, avoiding potential collision with server-side ids