The association between reduced myofilament force-generating capacity (F_max) and heart failure (HF) is clear, however the underlying molecular mechanisms are poorly understood. Here, we show impaired F_max arises from reduced BAG3-mediated sarcomere turnover. Myofilament BAG3 expression decreases in human HF and positively correlates with F_max. We confirm this relationship using BAG3 haploinsufficient mice, which display reduced F_max and increased myofilament ubiquitination, suggesting impaired protein turnover. We show cardiac BAG3 operates via chaperone-assisted selective autophagy (CASA), conserved from skeletal muscle, and confirm sarcomeric CASA complex localization is BAG3/proteotoxic stress-dependent. Using mass spectrometry, we characterize the myofilament CASA interactome in the human heart and identify eight clients of BAG3-mediated turnover. To determine if increasing BAG3 expression in HF can restore sarcomere proteostasis/F_max, HF mice were treated with rAAV9-BAG3. Gene therapy fully rescued F_max and CASA protein turnover after four weeks. Our findings indicate BAG3-mediated sarcomere turnover is fundamental for myofilament functional maintenance.