diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/web/mappings/MappingsEndpointAutoConfiguration.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/web/mappings/MappingsEndpointAutoConfiguration.java
index 4f1c30561f..72e3aab572 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/web/mappings/MappingsEndpointAutoConfiguration.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/web/mappings/MappingsEndpointAutoConfiguration.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2019 the original author or authors.
+ * Copyright 2012-2021 the original author or authors.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -44,10 +44,10 @@ import org.springframework.web.servlet.DispatcherServlet;
  * @since 2.0.0
  */
 @Configuration(proxyBeanMethods = false)
+@ConditionalOnAvailableEndpoint(endpoint = MappingsEndpoint.class)
 public class MappingsEndpointAutoConfiguration {
 
 	@Bean
-	@ConditionalOnAvailableEndpoint
 	public MappingsEndpoint mappingsEndpoint(ApplicationContext applicationContext,
 			ObjectProvider<MappingDescriptionProvider> descriptionProviders) {
 		return new MappingsEndpoint(descriptionProviders.orderedStream().collect(Collectors.toList()),
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/web/mappings/MappingsEndpointAutoConfigurationTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/web/mappings/MappingsEndpointAutoConfigurationTests.java
new file mode 100644
index 0000000000..ef2c0716bb
--- /dev/null
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/web/mappings/MappingsEndpointAutoConfigurationTests.java
@@ -0,0 +1,73 @@
+/*
+ * Copyright 2012-2021 the original author or authors.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.springframework.boot.actuate.autoconfigure.web.mappings;
+
+import org.junit.jupiter.api.Test;
+
+import org.springframework.boot.actuate.autoconfigure.endpoint.EndpointAutoConfiguration;
+import org.springframework.boot.actuate.autoconfigure.endpoint.web.WebEndpointAutoConfiguration;
+import org.springframework.boot.actuate.autoconfigure.endpoint.web.servlet.WebMvcEndpointManagementContextConfiguration;
+import org.springframework.boot.actuate.web.mappings.MappingDescriptionProvider;
+import org.springframework.boot.actuate.web.mappings.MappingsEndpoint;
+import org.springframework.boot.autoconfigure.AutoConfigurations;
+import org.springframework.boot.autoconfigure.context.PropertyPlaceholderAutoConfiguration;
+import org.springframework.boot.autoconfigure.http.HttpMessageConvertersAutoConfiguration;
+import org.springframework.boot.autoconfigure.jackson.JacksonAutoConfiguration;
+import org.springframework.boot.autoconfigure.web.servlet.DispatcherServletAutoConfiguration;
+import org.springframework.boot.autoconfigure.web.servlet.WebMvcAutoConfiguration;
+import org.springframework.boot.test.context.runner.WebApplicationContextRunner;
+
+import static org.assertj.core.api.Assertions.assertThat;
+
+/**
+ * Tests for {@link MappingsEndpointAutoConfiguration}.
+ *
+ * @author Andy Wilkinson
+ */
+public class MappingsEndpointAutoConfigurationTests {
+
+	@Test
+	public void whenEndpointIsUnavailableThenEndpointAndDescriptionProvidersAreNotCreated() {
+		new WebApplicationContextRunner()
+				.withConfiguration(AutoConfigurations.of(MappingsEndpointAutoConfiguration.class,
+						JacksonAutoConfiguration.class, HttpMessageConvertersAutoConfiguration.class,
+						WebMvcAutoConfiguration.class, DispatcherServletAutoConfiguration.class,
+						EndpointAutoConfiguration.class, WebEndpointAutoConfiguration.class,
+						WebMvcEndpointManagementContextConfiguration.class, PropertyPlaceholderAutoConfiguration.class))
+				.run((context) -> {
+					assertThat(context).doesNotHaveBean(MappingsEndpoint.class);
+					assertThat(context).doesNotHaveBean(MappingDescriptionProvider.class);
+				});
+
+	}
+
+	@Test
+	public void whenEndpointIsAvailableThenEndpointAndDescriptionProvidersAreCreated() {
+		new WebApplicationContextRunner()
+				.withConfiguration(AutoConfigurations.of(MappingsEndpointAutoConfiguration.class,
+						JacksonAutoConfiguration.class, HttpMessageConvertersAutoConfiguration.class,
+						WebMvcAutoConfiguration.class, DispatcherServletAutoConfiguration.class,
+						EndpointAutoConfiguration.class, WebEndpointAutoConfiguration.class,
+						WebMvcEndpointManagementContextConfiguration.class, PropertyPlaceholderAutoConfiguration.class))
+				.withPropertyValues("management.endpoints.web.exposure.include=mappings").run((context) -> {
+					assertThat(context).hasSingleBean(MappingsEndpoint.class);
+					assertThat(context.getBeansOfType(MappingDescriptionProvider.class)).hasSize(3);
+				});
+
+	}
+
+}