Encrypted ZFS change rpool password

I have installed Ubuntu 20.10 on ZFS with encryption enabled and now I want to change the password used to boot my computer.

How do I do this?

$ zfs get keylocation,encryption,keyformat rpool
NAME   PROPERTY     VALUE                                  SOURCE
rpool  keylocation  file:///run/keystore/rpool/system.key  local
rpool  encryption   aes-256-gcm                            -
rpool  keyformat    raw                                    -

as far as i can determine correct answer is

$ sudo cryptsetup luksAddKey /dev/zvol/rpool/keystore

to add new password

$ sudo cryptsetup luksRemoveKey /dev/zvol/rpool/keystore

and to remove old one