Walters' spot-kick was saved by Mark Schwarzer in last Saturday's 1-0 Barclays Premier League defeat at Fulham and in January he struck one against the bar in a 4-0 top-flight loss at home to Chelsea that also saw him score two own goals.
Pulis has not stated whether he does or does not want the Republic of Ireland international to continue taking Stoke's penalties but he certainly feels Walters deserves credit for volunteering, and has suggested that if the 29-year-old does so again in tomorrow's home league clash with West Ham - and none of his team-mates do - then he is happy to let him proceed.
Asked if he thought Walters should retain spot-kick duties, Pulis said: "People have asked me that, and people say `we would get him to take it, or we would get him to take it'.
"That's all fine, but do those players really want to take it when the game is going on?
"Jon picked that ball up (in the Fulham match) and there was no doubt about it - he wanted to take the penalty.
"He missed it, and as I have said before, people do things in life sometimes that are not right, or do not go the way they or you want them to go. But that is life, and you have to get on with it.
"You have to make sure you back the players who are prepared to do it.
"If we get a penalty on Saturday and Jon picks the ball up and wants to take it - and there is nine or 10 others who don't - then let Jon take it."