diff --git a/DependencyInjection/Compiler/RegisterLegacyGuardAuthenticatorPass.php b/DependencyInjection/Compiler/RegisterLegacyGuardAuthenticatorPass.php
new file mode 100644
index 00000000..ad88626b
--- /dev/null
+++ b/DependencyInjection/Compiler/RegisterLegacyGuardAuthenticatorPass.php
@@ -0,0 +1,33 @@
+<?php
+
+namespace Lexik\Bundle\JWTAuthenticationBundle\DependencyInjection\Compiler;
+
+use Lexik\Bundle\JWTAuthenticationBundle\Security\Guard\JWTTokenAuthenticator;
+use Symfony\Component\DependencyInjection\Compiler\CompilerPassInterface;
+use Symfony\Component\DependencyInjection\ContainerBuilder;
+use Symfony\Component\DependencyInjection\Reference;
+use Symfony\Component\Security\Core\Authentication\Token\Storage\TokenStorage;
+
+class RegisterLegacyGuardAuthenticatorPass implements CompilerPassInterface
+{
+    public function process(ContainerBuilder $container)
+    {
+        if (!$container->hasParameter('lexik_jwt_authentication.authenticator_manager_enabled') || !$container->getParameter('lexik_jwt_authentication.authenticator_manager_enabled')) {
+            return;
+        }
+
+        $container->register('.lexik_jwt_authentication.pre_authentication_token_storage', TokenStorage::class);
+        $container
+            ->register('lexik_jwt_authentication.security.guard.jwt_token_authenticator', JWTTokenAuthenticator::class)
+            ->setArguments([
+                new Reference('lexik_jwt_authentication.jwt_manager'),
+                new Reference('event_dispatcher'),
+                new Reference('lexik_jwt_authentication.extractor.chain_extractor'),
+                new Reference('.lexik_jwt_authentication.pre_authentication_token_storage'),
+            ])
+        ;
+        $container->setAlias('lexik_jwt_authentication.jwt_token_authenticator', 'lexik_jwt_authentication.security.guard.jwt_token_authenticator');
+        $container->getParameterBag()->remove('lexik_jwt_authentication.authenticator_manager_enabled');
+    }
+}
+
diff --git a/DependencyInjection/Security/Factory/JWTUserFactory.php b/DependencyInjection/Security/Factory/JWTUserFactory.php
index ef70cf8a..1e850b12 100644
--- a/DependencyInjection/Security/Factory/JWTUserFactory.php
+++ b/DependencyInjection/Security/Factory/JWTUserFactory.php
@@ -22,6 +22,10 @@ public function create(ContainerBuilder $container, $id, $config)
     {
         $container->setDefinition($id, new ChildDefinition('lexik_jwt_authentication.security.jwt_user_provider'))
             ->replaceArgument(0, $config['class']);
+
+        // Compile-time parameter removed by RemoveLegacyAuthenticatorPass
+        // Stop setting it when guard support gets removed (aka when removing Symfony<5.3 support)
+        $container->setParameter('lexik_jwt_authentication.authenticator_manager_enabled', true);
     }
 
     public function getKey()
diff --git a/LexikJWTAuthenticationBundle.php b/LexikJWTAuthenticationBundle.php
index e8348d66..20a39a3c 100644
--- a/LexikJWTAuthenticationBundle.php
+++ b/LexikJWTAuthenticationBundle.php
@@ -2,6 +2,7 @@
 
 namespace Lexik\Bundle\JWTAuthenticationBundle;
 
+use Lexik\Bundle\JWTAuthenticationBundle\DependencyInjection\Compiler\RegisterLegacyGuardAuthenticatorPass;
 use Lexik\Bundle\JWTAuthenticationBundle\DependencyInjection\Compiler\WireGenerateTokenCommandPass;
 use Lexik\Bundle\JWTAuthenticationBundle\DependencyInjection\Security\Factory\JWTAuthenticatorFactory;
 use Lexik\Bundle\JWTAuthenticationBundle\DependencyInjection\Security\Factory\JWTFactory;
@@ -27,6 +28,7 @@ public function build(ContainerBuilder $container)
         parent::build($container);
 
         $container->addCompilerPass(new WireGenerateTokenCommandPass());
+        $container->addCompilerPass(new RegisterLegacyGuardAuthenticatorPass());
 
         /** @var SecurityExtension $extension */
         $extension = $container->getExtension('security');
diff --git a/Resources/config/token_authenticator.xml b/Resources/config/token_authenticator.xml
index 9b03a35d..75a5ef6a 100644
--- a/Resources/config/token_authenticator.xml
+++ b/Resources/config/token_authenticator.xml
@@ -5,17 +5,6 @@
            xsi:schemaLocation="http://symfony.com/schema/dic/services http://symfony.com/schema/dic/services/services-1.0.xsd">
 
     <services>
-        <service id="lexik_jwt_authentication.jwt_token_authenticator" alias="lexik_jwt_authentication.security.guard.jwt_token_authenticator" />
-
-        <service id="lexik_jwt_authentication.security.guard.jwt_token_authenticator" class="Lexik\Bundle\JWTAuthenticationBundle\Security\Guard\JWTTokenAuthenticator">
-            <argument type="service" id="lexik_jwt_authentication.jwt_manager"/>
-            <argument type="service" id="event_dispatcher"/>
-            <argument type="service" id="lexik_jwt_authentication.extractor.chain_extractor"/>
-            <argument type="service">
-                <service class="Symfony\Component\Security\Core\Authentication\Token\Storage\TokenStorage" />
-            </argument>
-        </service>
-
         <service id="lexik_jwt_authentication.security.jwt_authenticator" class="Lexik\Bundle\JWTAuthenticationBundle\Security\Authenticator\JWTAuthenticator" abstract="true">
             <argument type="service" id="lexik_jwt_authentication.jwt_manager"/>
             <argument type="service" id="event_dispatcher"/>