diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 5dbfbc76b0..332193b1c7 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -1449,19 +1449,19 @@ class Node : public std::enable_shared_from_this<Node>
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();
 
-  /// Return a NodeHandle bound with the Node's internal node interfaces.
+  /// Return a NodeInterfaceHandle bound with the Node's internal node interfaces.
   /**
    * This overload binds all interfaces, if you want to bind a subset of interfaces, specify them
    * in the template parameters of the templated method.
    *
-   * \return a NodeHandle bound with the Node's internal node interfaces.
+   * \return a NodeInterfaceHandle bound with the Node's internal node interfaces.
    */
   RCLCPP_PUBLIC
   inline
-  rclcpp::NodeHandle<AllInterfaces>::SharedPtr
-  get_node_handle() {return std::make_shared<NodeHandle<AllInterfaces>>(this);}
+  rclcpp::NodeInterfaceHandle<AllInterfaces>::SharedPtr
+  get_node_handle() {return std::make_shared<NodeInterfaceHandle<AllInterfaces>>(this);}
 
-  /// Return a NodeHandle bound with the Node's internal node interfaces.
+  /// Return a NodeInterfaceHandle bound with the Node's internal node interfaces.
   /**
    * Specify which interfaces you want to bind using the temlplate parameters. Any unbound
    * interfaces will be nullptr.
@@ -1476,10 +1476,10 @@ class Node : public std::enable_shared_from_this<Node>
    *   - ```node->get_node_handle<AllInterfaces>()``` will bind all interfaces.
    *   - ```node->get_node_handle()``` will bind all interfaces.
    *
-   * \return a NodeHandle bound with the Node's internal node interfaces.
+   * \return a NodeInterfaceHandle bound with the Node's internal node interfaces.
    */
   template<typename ... InterfaceTs>
-  typename rclcpp::NodeHandle<InterfaceTs...>::SharedPtr
+  typename rclcpp::NodeInterfaceHandle<InterfaceTs...>::SharedPtr
   get_node_handle();
 
   /// Return the sub-namespace, if this is a sub-node, otherwise an empty string.
diff --git a/rclcpp/include/rclcpp/node_handle.hpp b/rclcpp/include/rclcpp/node_handle.hpp
index 8946592349..39a3b67705 100644
--- a/rclcpp/include/rclcpp/node_handle.hpp
+++ b/rclcpp/include/rclcpp/node_handle.hpp
@@ -46,14 +46,14 @@ struct AllInterfaces {};
 
 /// A helper class for aggregating node interfaces
 template<typename ... InterfaceTs>
-class NodeHandle : public std::enable_shared_from_this<NodeHandle<InterfaceTs...>>
+class NodeInterfaceHandle : public std::enable_shared_from_this<NodeInterfaceHandle<InterfaceTs...>>
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(NodeHandle)
+  RCLCPP_SMART_PTR_DEFINITIONS(NodeInterfaceHandle)
 
   /// Create a new node handle with no bound node interfaces.
   RCLCPP_PUBLIC
-  NodeHandle()
+  NodeInterfaceHandle()
   : base_(nullptr),
     clock_(nullptr),
     graph_(nullptr),
@@ -74,13 +74,13 @@ class NodeHandle : public std::enable_shared_from_this<NodeHandle<InterfaceTs...
    * Additionally, to bind all interfaces, specify AllInterfaces.
    *
    * For example:
-   *   - ```NodeHandle<>(node)``` will bind no interfaces.
-   *   - ```NodeHandle<BaseInterface>(node)``` will bind just the NodeBaseInterface.
-   *   - ```NodeHandle<AllInterfaces>(node)``` will bind all interfaces.
+   *   - ```NodeInterfaceHandle<>(node)``` will bind no interfaces.
+   *   - ```NodeInterfaceHandle<BaseInterface>(node)``` will bind just the NodeBaseInterface.
+   *   - ```NodeInterfaceHandle<AllInterfaces>(node)``` will bind all interfaces.
    * \param[in] node Node-like object to bind the interfaces of.
    */
   template<typename NodeT>
-  explicit NodeHandle(const NodeT & node)
+  explicit NodeInterfaceHandle(const NodeT & node)
   {
     if constexpr (0 == sizeof ...(InterfaceTs)) {
       base_ = nullptr;
@@ -237,7 +237,10 @@ class NodeHandle : public std::enable_shared_from_this<NodeHandle<InterfaceTs...
 
 /// Create a new node handle bound with no node interfaces.
 RCLCPP_PUBLIC
-inline NodeHandle<>::SharedPtr get_node_handle() {return std::make_shared<NodeHandle<>>();}
+inline NodeInterfaceHandle<>::SharedPtr get_node_handle()
+{
+  return std::make_shared<NodeInterfaceHandle<>>();
+}
 
 
 /// Create a new node handle bound with the passed in node-like object's interfaces.
@@ -248,10 +251,10 @@ inline NodeHandle<>::SharedPtr get_node_handle() {return std::make_shared<NodeHa
  * \param[in] node Node-like object to bind the interfaces of.
  */
 template<typename NodeT>
-typename NodeHandle<>::SharedPtr
+typename NodeInterfaceHandle<>::SharedPtr
 get_node_handle(const NodeT & node)
 {
-  return std::make_shared<NodeHandle<>>(node);
+  return std::make_shared<NodeInterfaceHandle<>>(node);
 }
 
 
@@ -260,18 +263,18 @@ get_node_handle(const NodeT & node)
  * You may specify in the template parameters the interfaces to bind. Any unbound interfaces
  * will be nullptr.
  *
- * For example: ```NodeHandle<BaseInterface>(node)``` will bind just the NodeBaseInterface.
+ * For example: ```NodeInterfaceHandle<BaseInterface>(node)``` will bind just the NodeBaseInterface.
  *
  * \param[in] node Node-like object to bind the interfaces of.
  */
 template<typename ... InterfaceTs, typename NodeT>
-typename NodeHandle<InterfaceTs...>::SharedPtr
+typename NodeInterfaceHandle<InterfaceTs...>::SharedPtr
 get_node_handle(const NodeT & node)
 {
   if constexpr (0 == sizeof...(InterfaceTs)) {
     return get_node_handle(node);
   } else {
-    return std::make_shared<NodeHandle<InterfaceTs...>>(node);
+    return std::make_shared<NodeInterfaceHandle<InterfaceTs...>>(node);
   }
 }
 
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 46c0bdcee6..263013723c 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -395,10 +395,10 @@ Node::get_parameters(
 }
 
 template<typename ... InterfaceTs>
-typename rclcpp::NodeHandle<InterfaceTs...>::SharedPtr
+typename rclcpp::NodeInterfaceHandle<InterfaceTs...>::SharedPtr
 Node::get_node_handle()
 {
-  return std::make_shared<rclcpp::NodeHandle<InterfaceTs...>>(this);
+  return std::make_shared<rclcpp::NodeInterfaceHandle<InterfaceTs...>>(this);
 }
 
 }  // namespace rclcpp
diff --git a/rclcpp/test/rclcpp/test_node_handle.cpp b/rclcpp/test/rclcpp/test_node_handle.cpp
index 213fbc0ec8..75b61b7718 100644
--- a/rclcpp/test/rclcpp/test_node_handle.cpp
+++ b/rclcpp/test/rclcpp/test_node_handle.cpp
@@ -16,7 +16,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/node_handle.hpp"
 
-class TestNodeHandle : public ::testing::Test
+class TestNodeInterfaceHandle : public ::testing::Test
 {
 protected:
   static void SetUpTestCase()
@@ -33,11 +33,11 @@ class TestNodeHandle : public ::testing::Test
 /*
    Testing node handle construction.
  */
-TEST_F(TestNodeHandle, nh_init) {
+TEST_F(TestNodeInterfaceHandle, nh_init) {
   {
     auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
-    auto empty_nh = std::make_shared<rclcpp::NodeHandle<>>();
+    auto empty_nh = std::make_shared<rclcpp::NodeInterfaceHandle<>>();
     EXPECT_EQ(nullptr, empty_nh->base());
     EXPECT_EQ(nullptr, empty_nh->clock());
     EXPECT_EQ(nullptr, empty_nh->graph());
@@ -61,7 +61,7 @@ TEST_F(TestNodeHandle, nh_init) {
     EXPECT_EQ(nullptr, empty_nh_from_standalone->parameters());
     EXPECT_EQ(nullptr, empty_nh_from_standalone->time_source());
 
-    auto base_nh = std::make_shared<rclcpp::NodeHandle<rclcpp::BaseInterface>>(node);
+    auto base_nh = std::make_shared<rclcpp::NodeInterfaceHandle<rclcpp::BaseInterface>>(node);
     EXPECT_NE(nullptr, base_nh->base());
     EXPECT_STREQ("my_node", base_nh->base()->get_name());
     EXPECT_EQ(nullptr, base_nh->clock());
@@ -88,7 +88,10 @@ TEST_F(TestNodeHandle, nh_init) {
     EXPECT_EQ(nullptr, base_nh_from_standalone->time_source());
 
     auto base_clock_nh =
-      std::make_shared<rclcpp::NodeHandle<rclcpp::BaseInterface, rclcpp::ClockInterface>>(node);
+      std::make_shared<rclcpp::NodeInterfaceHandle<
+          rclcpp::BaseInterface,
+          rclcpp::ClockInterface
+        >>(node);
     EXPECT_NE(nullptr, base_clock_nh->base());
     EXPECT_STREQ("my_node", base_clock_nh->base()->get_name());
     EXPECT_NE(nullptr, base_clock_nh->clock());
@@ -103,7 +106,7 @@ TEST_F(TestNodeHandle, nh_init) {
     EXPECT_EQ(nullptr, base_clock_nh->time_source());
 
     auto sans_base_clock_nh = std::make_shared<
-      rclcpp::NodeHandle<
+      rclcpp::NodeInterfaceHandle<
         rclcpp::GraphInterface,
         rclcpp::LoggingInterface,
         rclcpp::TimersInterface,
@@ -124,7 +127,7 @@ TEST_F(TestNodeHandle, nh_init) {
     EXPECT_NE(nullptr, sans_base_clock_nh->parameters());
     EXPECT_NE(nullptr, sans_base_clock_nh->time_source());
 
-    auto all_nh = std::make_shared<rclcpp::NodeHandle<rclcpp::AllInterfaces>>(node);
+    auto all_nh = std::make_shared<rclcpp::NodeInterfaceHandle<rclcpp::AllInterfaces>>(node);
     EXPECT_NE(nullptr, all_nh->base());
     EXPECT_NE(nullptr, all_nh->clock());
     EXPECT_NE(nullptr, all_nh->graph());
@@ -136,7 +139,7 @@ TEST_F(TestNodeHandle, nh_init) {
     EXPECT_NE(nullptr, all_nh->parameters());
     EXPECT_NE(nullptr, all_nh->time_source());
 
-    auto empty_nh_from_node = std::make_shared<rclcpp::NodeHandle<>>(node);
+    auto empty_nh_from_node = std::make_shared<rclcpp::NodeInterfaceHandle<>>(node);
     EXPECT_EQ(nullptr, empty_nh_from_node->base());
     EXPECT_EQ(nullptr, empty_nh_from_node->clock());
     EXPECT_EQ(nullptr, empty_nh_from_node->graph());
@@ -153,11 +156,11 @@ TEST_F(TestNodeHandle, nh_init) {
 /*
    Testing node handle construction with alternate getters.
  */
-TEST_F(TestNodeHandle, nh_init_alternate_getters) {
+TEST_F(TestNodeInterfaceHandle, nh_init_alternate_getters) {
   {
     auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
-    auto base_nh = std::make_shared<rclcpp::NodeHandle<rclcpp::BaseInterface>>(node);
+    auto base_nh = std::make_shared<rclcpp::NodeInterfaceHandle<rclcpp::BaseInterface>>(node);
 
     EXPECT_NE(nullptr, base_nh->get_node_base_interface());
     EXPECT_STREQ("my_node", base_nh->get_node_base_interface()->get_name());
@@ -172,8 +175,10 @@ TEST_F(TestNodeHandle, nh_init_alternate_getters) {
     EXPECT_EQ(nullptr, base_nh->get_node_parameters_interface());
     EXPECT_EQ(nullptr, base_nh->get_node_time_source_interface());
 
-    auto base_clock_nh =
-      std::make_shared<rclcpp::NodeHandle<rclcpp::BaseInterface, rclcpp::ClockInterface>>(node);
+    auto base_clock_nh = std::make_shared<rclcpp::NodeInterfaceHandle<
+          rclcpp::BaseInterface,
+          rclcpp::ClockInterface
+        >>(node);
 
     EXPECT_NE(nullptr, base_clock_nh->get_node_base_interface());
     EXPECT_STREQ("my_node", base_clock_nh->get_node_base_interface()->get_name());
@@ -191,17 +196,16 @@ TEST_F(TestNodeHandle, nh_init_alternate_getters) {
     EXPECT_EQ(nullptr, base_clock_nh->get_node_parameters_interface());
     EXPECT_EQ(nullptr, base_clock_nh->get_node_time_source_interface());
 
-    auto sans_base_clock_nh = std::make_shared<
-      rclcpp::NodeHandle<
-        rclcpp::GraphInterface,
-        rclcpp::LoggingInterface,
-        rclcpp::TimersInterface,
-        rclcpp::TopicsInterface,
-        rclcpp::ServicesInterface,
-        rclcpp::WaitablesInterface,
-        rclcpp::ParametersInterface,
-        rclcpp::TimeSourceInterface
-      >>(node);
+    auto sans_base_clock_nh = std::make_shared<rclcpp::NodeInterfaceHandle<
+          rclcpp::GraphInterface,
+          rclcpp::LoggingInterface,
+          rclcpp::TimersInterface,
+          rclcpp::TopicsInterface,
+          rclcpp::ServicesInterface,
+          rclcpp::WaitablesInterface,
+          rclcpp::ParametersInterface,
+          rclcpp::TimeSourceInterface
+        >>(node);
 
     EXPECT_EQ(nullptr, sans_base_clock_nh->get_node_base_interface());
     EXPECT_EQ(nullptr, sans_base_clock_nh->get_node_clock_interface());
@@ -219,11 +223,11 @@ TEST_F(TestNodeHandle, nh_init_alternate_getters) {
 /*
    Testing node handle setters.
  */
-TEST_F(TestNodeHandle, nh_setters) {
+TEST_F(TestNodeInterfaceHandle, nh_setters) {
   {
     auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
-    auto base_nh = std::make_shared<rclcpp::NodeHandle<rclcpp::BaseInterface>>(node);
+    auto base_nh = std::make_shared<rclcpp::NodeInterfaceHandle<rclcpp::BaseInterface>>(node);
 
     EXPECT_NE(nullptr, base_nh->base());
     EXPECT_STREQ("my_node", base_nh->base()->get_name());
@@ -241,11 +245,11 @@ TEST_F(TestNodeHandle, nh_setters) {
 /*
    Testing node handle alternate setters.
  */
-TEST_F(TestNodeHandle, nh_alternate_setters) {
+TEST_F(TestNodeInterfaceHandle, nh_alternate_setters) {
   {
     auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
-    auto base_nh = std::make_shared<rclcpp::NodeHandle<rclcpp::BaseInterface>>(node);
+    auto base_nh = std::make_shared<rclcpp::NodeInterfaceHandle<rclcpp::BaseInterface>>(node);
 
     EXPECT_NE(nullptr, base_nh->base());
     EXPECT_STREQ("my_node", base_nh->base()->get_name());
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index 88814bcbf4..40203ce17e 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -823,19 +823,22 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
   get_node_waitables_interface();
 
-  /// Return a NodeHandle bound with the LifecycleNode's internal node interfaces.
+  /// Return a NodeInterfaceHandle bound with the LifecycleNode's internal node interfaces.
   /**
    * This overload binds all interfaces, if you want to bind a subset of interfaces, specify them
    * in the template parameters of the templated method.
    *
-   * \return a NodeHandle bound with the LifecycleNode's internal node interfaces.
+   * \return a NodeInterfaceHandle bound with the LifecycleNode's internal node interfaces.
    */
   RCLCPP_LIFECYCLE_PUBLIC
   inline
-  rclcpp::NodeHandle<rclcpp::AllInterfaces>::SharedPtr
-  get_node_handle() {return std::make_shared<rclcpp::NodeHandle<rclcpp::AllInterfaces>>(this);}
+  rclcpp::NodeInterfaceHandle<rclcpp::AllInterfaces>::SharedPtr
+  get_node_handle()
+  {
+    return std::make_shared<rclcpp::NodeInterfaceHandle<rclcpp::AllInterfaces>>(this);
+  }
 
-  /// Return a NodeHandle bound with the LifecycleNode's internal node interfaces.
+  /// Return a NodeInterfaceHandle bound with the LifecycleNode's internal node interfaces.
   /**
    * Specify which interfaces you want to bind using the temlplate parameters. Any unbound
    * interfaces will be nullptr.
@@ -850,10 +853,10 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
    *   - ```node->get_node_handle<AllInterfaces>()``` will bind all interfaces.
    *   - ```node->get_node_handle()``` will bind all interfaces.
    *
-   * \return a NodeHandle bound with the LifecycleNode's internal node interfaces.
+   * \return a NodeInterfaceHandle bound with the LifecycleNode's internal node interfaces.
    */
   template<typename ... InterfaceTs>
-  typename rclcpp::NodeHandle<InterfaceTs...>::SharedPtr
+  typename rclcpp::NodeInterfaceHandle<InterfaceTs...>::SharedPtr
   get_node_handle();
 
   /// Return the NodeOptions used when creating this node.
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
index 26c1a114b8..ff5aed1bcc 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
@@ -333,10 +333,10 @@ LifecycleNode::get_parameter_or(
 }
 
 template<typename ... InterfaceTs>
-typename rclcpp::NodeHandle<InterfaceTs...>::SharedPtr
+typename rclcpp::NodeInterfaceHandle<InterfaceTs...>::SharedPtr
 LifecycleNode::get_node_handle()
 {
-  return std::make_shared<rclcpp::NodeHandle<InterfaceTs...>>(this);
+  return std::make_shared<rclcpp::NodeInterfaceHandle<InterfaceTs...>>(this);
 }
 
 }  // namespace rclcpp_lifecycle