diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
index e88fa8a949..04e0ce9a33 100644
--- a/rclcpp/include/rclcpp/client.hpp
+++ b/rclcpp/include/rclcpp/client.hpp
@@ -130,7 +130,7 @@ class ClientBase
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
 
   RCLCPP_PUBLIC
-  virtual ~ClientBase();
+  virtual ~ClientBase() = default;
 
   /// Take the next response for this client as a type erased pointer.
   /**
diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
index 037d1aaa2a..6583e74ae7 100644
--- a/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
+++ b/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
@@ -52,7 +52,7 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
   {}
 
   RCLCPP_PUBLIC
-  virtual ~SubscriptionIntraProcessBase();
+  virtual ~SubscriptionIntraProcessBase() = default;
 
   RCLCPP_PUBLIC
   size_t
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 3f500eaa09..65b457ffda 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -55,7 +55,7 @@ class ServiceBase
   explicit ServiceBase(std::shared_ptr<rcl_node_t> node_handle);
 
   RCLCPP_PUBLIC
-  virtual ~ServiceBase();
+  virtual ~ServiceBase() = default;
 
   /// Return the name of the service.
   /** \return The name of the service. */
diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
index 17cc68e153..4adc6d4a96 100644
--- a/rclcpp/src/rclcpp/client.cpp
+++ b/rclcpp/src/rclcpp/client.cpp
@@ -65,13 +65,6 @@ ClientBase::ClientBase(
     });
 }
 
-ClientBase::~ClientBase()
-{
-  clear_on_new_response_callback();
-  // Make sure the client handle is destructed as early as possible and before the node handle
-  client_handle_.reset();
-}
-
 bool
 ClientBase::take_type_erased_response(void * response_out, rmw_request_id_t & request_header_out)
 {
diff --git a/rclcpp/src/rclcpp/publisher_base.cpp b/rclcpp/src/rclcpp/publisher_base.cpp
index 723d56e0d5..9517af6d3c 100644
--- a/rclcpp/src/rclcpp/publisher_base.cpp
+++ b/rclcpp/src/rclcpp/publisher_base.cpp
@@ -102,11 +102,6 @@ PublisherBase::PublisherBase(
 
 PublisherBase::~PublisherBase()
 {
-  for (const auto & pair : event_handlers_) {
-    rcl_publisher_event_type_t event_type = pair.first;
-    clear_on_new_qos_event_callback(event_type);
-  }
-
   // must fini the events before fini-ing the publisher
   event_handlers_.clear();
 
diff --git a/rclcpp/src/rclcpp/qos_event.cpp b/rclcpp/src/rclcpp/qos_event.cpp
index 8bfd5b3304..91df5bb346 100644
--- a/rclcpp/src/rclcpp/qos_event.cpp
+++ b/rclcpp/src/rclcpp/qos_event.cpp
@@ -35,6 +35,11 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(
 
 QOSEventHandlerBase::~QOSEventHandlerBase()
 {
+  // Since the rmw event listener holds a reference to
+  // this callback, we need to clear it on destruction of this class.
+  // This clearing is not needed for other rclcpp entities like pub/subs, since
+  // they do own the underlying rmw entities, which are destroyed
+  // on their rclcpp destructors, thus no risk of dangling pointers.
   if (on_new_event_callback_) {
     clear_on_ready_callback();
   }
diff --git a/rclcpp/src/rclcpp/service.cpp b/rclcpp/src/rclcpp/service.cpp
index 7bc580ce68..ea1a83a2a6 100644
--- a/rclcpp/src/rclcpp/service.cpp
+++ b/rclcpp/src/rclcpp/service.cpp
@@ -32,10 +32,6 @@ ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
   node_logger_(rclcpp::get_node_logger(node_handle_.get()))
 {}
 
-ServiceBase::~ServiceBase()
-{
-  clear_on_new_request_callback();
-}
 
 bool
 ServiceBase::take_type_erased_request(void * request_out, rmw_request_id_t & request_id_out)
diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
index 300f465a41..871321fbe8 100644
--- a/rclcpp/src/rclcpp/subscription_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -87,13 +87,6 @@ SubscriptionBase::SubscriptionBase(
 
 SubscriptionBase::~SubscriptionBase()
 {
-  clear_on_new_message_callback();
-
-  for (const auto & pair : event_handlers_) {
-    rcl_subscription_event_type_t event_type = pair.first;
-    clear_on_new_qos_event_callback(event_type);
-  }
-
   if (!use_intra_process_) {
     return;
   }
diff --git a/rclcpp/src/rclcpp/subscription_intra_process_base.cpp b/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
index 21ccb433ff..b13123b65b 100644
--- a/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
@@ -17,11 +17,6 @@
 
 using rclcpp::experimental::SubscriptionIntraProcessBase;
 
-SubscriptionIntraProcessBase::~SubscriptionIntraProcessBase()
-{
-  clear_on_ready_callback();
-}
-
 void
 SubscriptionIntraProcessBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
diff --git a/rclcpp_action/src/client.cpp b/rclcpp_action/src/client.cpp
index f9144ecf49..2266b7cee6 100644
--- a/rclcpp_action/src/client.cpp
+++ b/rclcpp_action/src/client.cpp
@@ -136,7 +136,6 @@ ClientBase::ClientBase(
 
 ClientBase::~ClientBase()
 {
-  clear_on_ready_callback();
 }
 
 bool
diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
index b0afb9aa50..42c4074495 100644
--- a/rclcpp_action/src/server.cpp
+++ b/rclcpp_action/src/server.cpp
@@ -132,7 +132,6 @@ ServerBase::ServerBase(
 
 ServerBase::~ServerBase()
 {
-  clear_on_ready_callback();
 }
 
 size_t