diff --git a/lib/matplotlib/figure.py b/lib/matplotlib/figure.py
index fcbad439e289..fba1b898f197 100644
--- a/lib/matplotlib/figure.py
+++ b/lib/matplotlib/figure.py
@@ -1842,15 +1842,6 @@ def gca(self, **kwargs):
                 # if the cax matches this key then return the axes, otherwise
                 # continue and a new axes will be created
                 if key == ckey and isinstance(cax, projection_class):
-                    cbook.warn_deprecated(
-                        "3.0",
-                        "Calling `gca()` using the same arguments as a "
-                        "previous axes currently reuses the earlier "
-                        "instance.  In a future version, a new instance will "
-                        "always be created and returned.  Meanwhile, this "
-                        "warning can be suppressed, and the future behavior "
-                        "ensured, by passing a unique label to each axes "
-                        "instance.")
                     return cax
                 else:
                     warnings.warn('Requested projection is different from '