diff --git a/rclpy/src/rclpy/client.cpp b/rclpy/src/rclpy/client.cpp
index 8587f527d..d277dee71 100644
--- a/rclpy/src/rclpy/client.cpp
+++ b/rclpy/src/rclpy/client.cpp
@@ -155,7 +155,7 @@ Client::take_response(py::object pyresponse_type)
 void
 define_client(py::object module)
 {
-  py::class_<Client, Destroyable>(module, "Client")
+  py::class_<Client, Destroyable, std::shared_ptr<Client>>(module, "Client")
   .def(py::init<py::capsule, py::object, const char *, py::object>())
   .def_property_readonly(
     "pointer", [](const Client & client) {
diff --git a/rclpy/src/rclpy/client.hpp b/rclpy/src/rclpy/client.hpp
index f9f5a9f34..8c7621a8d 100644
--- a/rclpy/src/rclpy/client.hpp
+++ b/rclpy/src/rclpy/client.hpp
@@ -28,7 +28,7 @@ namespace py = pybind11;
 
 namespace rclpy
 {
-class Client : public Destroyable
+class Client : public Destroyable, public std::enable_shared_from_this<Client>
 {
 public:
   /// Create a client
diff --git a/rclpy/src/rclpy/clock.cpp b/rclpy/src/rclpy/clock.cpp
index bf91c84c7..f74947997 100644
--- a/rclpy/src/rclpy/clock.cpp
+++ b/rclpy/src/rclpy/clock.cpp
@@ -181,7 +181,7 @@ void Clock::remove_clock_callback(py::object pyjump_handle)
 
 void define_clock(py::object module)
 {
-  py::class_<Clock, Destroyable>(module, "Clock")
+  py::class_<Clock, Destroyable, std::shared_ptr<Clock>>(module, "Clock")
   .def(py::init<rcl_clock_type_t>())
   .def_property_readonly(
     "pointer", [](const Clock & clock) {
diff --git a/rclpy/src/rclpy/clock.hpp b/rclpy/src/rclpy/clock.hpp
index 06bd5076b..c55682dff 100644
--- a/rclpy/src/rclpy/clock.hpp
+++ b/rclpy/src/rclpy/clock.hpp
@@ -31,7 +31,7 @@ namespace py = pybind11;
 
 namespace rclpy
 {
-class Clock : public Destroyable
+class Clock : public Destroyable, public std::enable_shared_from_this<Clock>
 {
 public:
   /// Create a clock
@@ -105,12 +105,6 @@ class Clock : public Destroyable
   void
   remove_clock_callback(py::object pyjump_handle);
 
-  /// Get rcl_client_t pointer
-  std::shared_ptr<rcl_clock_t> get_shared_ptr()
-  {
-    return rcl_clock_;
-  }
-
   /// Get rcl_client_t pointer
   rcl_clock_t * rcl_ptr() const
   {
diff --git a/rclpy/src/rclpy/destroyable.cpp b/rclpy/src/rclpy/destroyable.cpp
index fa6ced3a1..fc8fda849 100644
--- a/rclpy/src/rclpy/destroyable.cpp
+++ b/rclpy/src/rclpy/destroyable.cpp
@@ -62,7 +62,7 @@ Destroyable::destroy_when_not_in_use()
 void
 define_destroyable(py::object module)
 {
-  py::class_<Destroyable>(module, "Destroyable")
+  py::class_<Destroyable, std::shared_ptr<Destroyable>>(module, "Destroyable")
   .def("__enter__", &Destroyable::enter)
   .def("__exit__", &Destroyable::exit)
   .def(
diff --git a/rclpy/src/rclpy/publisher.cpp b/rclpy/src/rclpy/publisher.cpp
index a8980f477..7623026c5 100644
--- a/rclpy/src/rclpy/publisher.cpp
+++ b/rclpy/src/rclpy/publisher.cpp
@@ -167,7 +167,7 @@ Publisher::publish_raw(std::string msg)
 void
 define_publisher(py::object module)
 {
-  py::class_<Publisher, Destroyable>(module, "Publisher")
+  py::class_<Publisher, Destroyable, std::shared_ptr<Publisher>>(module, "Publisher")
   .def(py::init<py::capsule, py::object, std::string, py::object>())
   .def_property_readonly(
     "pointer", [](const Publisher & publisher) {
diff --git a/rclpy/src/rclpy/publisher.hpp b/rclpy/src/rclpy/publisher.hpp
index 6e5be6da5..c7b35f789 100644
--- a/rclpy/src/rclpy/publisher.hpp
+++ b/rclpy/src/rclpy/publisher.hpp
@@ -30,7 +30,7 @@ namespace py = pybind11;
 
 namespace rclpy
 {
-class Publisher : public Destroyable
+class Publisher : public Destroyable, public std::enable_shared_from_this<Publisher>
 {
 public:
   /// Create a publisher
diff --git a/rclpy/src/rclpy/qos_event.cpp b/rclpy/src/rclpy/qos_event.cpp
index 5286dc5a7..d22d24e06 100644
--- a/rclpy/src/rclpy/qos_event.cpp
+++ b/rclpy/src/rclpy/qos_event.cpp
@@ -66,7 +66,7 @@ QoSEvent::QoSEvent(
   rclpy::Subscription & subscription, rcl_subscription_event_type_t event_type)
 : event_type_(event_type)
 {
-  grandparent_sub_handle_ = std::make_shared<rclpy::Subscription>(subscription);
+  grandparent_sub_handle_ = subscription.shared_from_this();
 
   // Create a subscription event
   rcl_event_ = create_zero_initialized_event();
@@ -89,7 +89,7 @@ QoSEvent::QoSEvent(
   rclpy::Publisher & publisher, rcl_publisher_event_type_t event_type)
 : event_type_(event_type)
 {
-  grandparent_pub_handle_ = std::make_shared<rclpy::Publisher>(publisher);
+  grandparent_pub_handle_ = publisher.shared_from_this();
 
   // Create a publisher event
   rcl_event_ = create_zero_initialized_event();
@@ -169,7 +169,7 @@ QoSEvent::take_event()
 void
 define_qos_event(py::module module)
 {
-  py::class_<QoSEvent, Destroyable>(module, "QoSEvent")
+  py::class_<QoSEvent, Destroyable, std::shared_ptr<QoSEvent>>(module, "QoSEvent")
   .def(py::init<rclpy::Subscription &, rcl_subscription_event_type_t>())
   .def(py::init<rclpy::Publisher &, rcl_publisher_event_type_t>())
   .def_property_readonly(
diff --git a/rclpy/src/rclpy/qos_event.hpp b/rclpy/src/rclpy/qos_event.hpp
index 8f537f7de..e41ffb927 100644
--- a/rclpy/src/rclpy/qos_event.hpp
+++ b/rclpy/src/rclpy/qos_event.hpp
@@ -31,7 +31,7 @@ namespace py = pybind11;
 
 namespace rclpy
 {
-class QoSEvent : public Destroyable
+class QoSEvent : public Destroyable, public std::enable_shared_from_this<QoSEvent>
 {
 public:
   /// Create a subscription event
diff --git a/rclpy/src/rclpy/service.cpp b/rclpy/src/rclpy/service.cpp
index 1002fbf73..c8cbf6efb 100644
--- a/rclpy/src/rclpy/service.cpp
+++ b/rclpy/src/rclpy/service.cpp
@@ -139,7 +139,7 @@ Service::service_take_request(py::object pyrequest_type)
 void
 define_service(py::object module)
 {
-  py::class_<Service, Destroyable>(module, "Service")
+  py::class_<Service, Destroyable, std::shared_ptr<Service>>(module, "Service")
   .def(py::init<py::capsule, py::object, std::string, py::object>())
   .def_property_readonly(
     "pointer", [](const Service & service) {
diff --git a/rclpy/src/rclpy/service.hpp b/rclpy/src/rclpy/service.hpp
index ec87880c7..5e300d684 100644
--- a/rclpy/src/rclpy/service.hpp
+++ b/rclpy/src/rclpy/service.hpp
@@ -33,7 +33,7 @@ namespace py = pybind11;
 namespace rclpy
 {
 
-class Service : public Destroyable
+class Service : public Destroyable, public std::enable_shared_from_this<Service>
 {
 public:
   /// Create a service server
diff --git a/rclpy/src/rclpy/subscription.cpp b/rclpy/src/rclpy/subscription.cpp
index 8efaac286..1be7a7884 100644
--- a/rclpy/src/rclpy/subscription.cpp
+++ b/rclpy/src/rclpy/subscription.cpp
@@ -177,7 +177,7 @@ Subscription::get_topic_name()
 void
 define_subscription(py::object module)
 {
-  py::class_<Subscription, Destroyable>(module, "Subscription")
+  py::class_<Subscription, Destroyable, std::shared_ptr<Subscription>>(module, "Subscription")
   .def(py::init<py::capsule, py::object, std::string, py::object>())
   .def_property_readonly(
     "pointer", [](const Subscription & subscription) {
diff --git a/rclpy/src/rclpy/subscription.hpp b/rclpy/src/rclpy/subscription.hpp
index 28aa651ae..89f56f000 100644
--- a/rclpy/src/rclpy/subscription.hpp
+++ b/rclpy/src/rclpy/subscription.hpp
@@ -30,7 +30,7 @@ namespace py = pybind11;
 
 namespace rclpy
 {
-class Subscription : public Destroyable
+class Subscription : public Destroyable, public std::enable_shared_from_this<Subscription>
 {
 public:
   /// Create a subscription
diff --git a/rclpy/src/rclpy/timer.cpp b/rclpy/src/rclpy/timer.cpp
index b4e192e57..997c3fb06 100644
--- a/rclpy/src/rclpy/timer.cpp
+++ b/rclpy/src/rclpy/timer.cpp
@@ -43,7 +43,7 @@ Timer::destroy()
 Timer::Timer(
   Clock & rclcy_clock, py::capsule pycontext, int64_t period_nsec)
 {
-  clock_handle_ = rclcy_clock.get_shared_ptr();
+  clock_handle_ = rclcy_clock.shared_from_this();
 
   auto context = static_cast<rcl_context_t *>(
     rclpy_handle_get_pointer_from_capsule(pycontext.ptr(), "rcl_context_t"));
@@ -72,7 +72,7 @@ Timer::Timer(
   rcl_allocator_t allocator = rcl_get_default_allocator();
 
   rcl_ret_t ret = rcl_timer_init(
-    rcl_timer_.get(), clock_handle_.get(), context,
+    rcl_timer_.get(), clock_handle_->rcl_ptr(), context,
     period_nsec, NULL, allocator);
 
   if (RCL_RET_OK != ret) {
@@ -168,7 +168,7 @@ bool Timer::is_timer_canceled()
 void
 define_timer(py::object module)
 {
-  py::class_<Timer, Destroyable>(module, "Timer")
+  py::class_<Timer, Destroyable, std::shared_ptr<Timer>>(module, "Timer")
   .def(py::init<Clock &, py::capsule, int64_t>())
   .def_property_readonly(
     "pointer", [](const Timer & timer) {
diff --git a/rclpy/src/rclpy/timer.hpp b/rclpy/src/rclpy/timer.hpp
index 57e5dde7e..786322804 100644
--- a/rclpy/src/rclpy/timer.hpp
+++ b/rclpy/src/rclpy/timer.hpp
@@ -30,7 +30,7 @@ namespace py = pybind11;
 namespace rclpy
 {
 
-class Timer : public Destroyable
+class Timer : public Destroyable, public std::enable_shared_from_this<Timer>
 {
 public:
   /// Create a timer
@@ -133,8 +133,7 @@ class Timer : public Destroyable
   void destroy() override;
 
 private:
-  // TODO(ahcorde) replace with std::shared_ptr<rcl_clock_t> when rclpy::Clock exists
-  std::shared_ptr<rcl_clock_t> clock_handle_;
+  std::shared_ptr<Clock> clock_handle_;
   std::shared_ptr<rcl_timer_t> rcl_timer_;
 };