Poly(ethylene oxide)s (PEOs) are useful polymers with good water solubility, biological compatibility, and commercial availability. In this study, PEOs with various end groups were threaded into pillar[5]arene rings in a mixture of water and methanol to afford pseudopolyrotaxanes. Multiple hydrogen bonds between the pillar[5]arene rings and hydrophobic-hydrophilic interactions between the ethylene groups of the PEOs and the hydrophobic pillar[5]arenes are the driving forces to form the pseudopolyrotaxane structure. Corresponding polyrotaxanes were also constructed by capping COOH-terminated pseudopolyrotaxanes with bulky amines, in which multiple hydrogen bonds involving the pillar[5]arene OH groups were critically important to prevent de-threading. The number of threaded ring components could be rationally controlled in these materials, providing a simple and versatile method to tune the mechanical and thermal properties. Speci cally, a polyrotaxane with a high-molecular-weight axle became elastic upon heating above the melting point of PEOs and exhibited temperature-dependent shape memory property, because of the topological con nement and cross-linking by hydrogen bonds.