diff --git a/src/uipath/models/errors.py b/src/uipath/models/errors.py
index ecf5eca18..e8c188e0e 100644
--- a/src/uipath/models/errors.py
+++ b/src/uipath/models/errors.py
@@ -1,7 +1,7 @@
 class BaseUrlMissingError(Exception):
     def __init__(
         self,
-        message="Authentication required. Please run \033[1muipath auth\033[22m.",
+        message="Authentication required. Please run \033[1muipath auth\033[22m or set the base URL via the UIPATH_URL environment variable.",
     ):
         self.message = message
         super().__init__(self.message)
@@ -10,7 +10,7 @@ def __init__(
 class SecretMissingError(Exception):
     def __init__(
         self,
-        message="Authentication required. Please run \033[1muipath auth\033[22m.",
+        message="Authentication required. Please run \033[1muipath auth\033[22m or set the UIPATH_ACCESS_TOKEN environment variable to a valid access token.",
     ):
         self.message = message
         super().__init__(self.message)
diff --git a/tests/sdk/test_config.py b/tests/sdk/test_config.py
index 5cf1dd62c..1f4a7021e 100644
--- a/tests/sdk/test_config.py
+++ b/tests/sdk/test_config.py
@@ -15,7 +15,7 @@ def test_no_config(self, monkeypatch):
 
         assert (
             str(exc_info.value)
-            == "Authentication required. Please run \033[1muipath auth\033[22m."
+            == "Authentication required. Please run \033[1muipath auth\033[22m or set the base URL via the UIPATH_URL environment variable."
         )
 
     def test_config_from_env(self, monkeypatch):