Michael Adebolajo, 28, and Michael Adebowale, 22, will stand trial at the Old Bailey court in London following the conclusion of legal submissions.
The details of legal arguments in the case over the past week cannot be reported.
Adebolajo, wearing a black shirt, and Adebowale, in a beige knitted jumper, appeared in the dock today, separated by security guards.
Judge Nigel Sweeney told the court the trial could start on Friday.
The two defendants are also each accused of attempting to murder a police officer on the same day, and conspiracy to murder a police officer.
Adebolajo has asked to be known as Mujaahid Abu Hamza in court, while Adebowale wants to be called Ismail Ibn Abdullah.