diff --git a/ros2cli/ros2cli/daemon/__init__.py b/ros2cli/ros2cli/daemon/__init__.py
index 4f8f87499..80b63d048 100644
--- a/ros2cli/ros2cli/daemon/__init__.py
+++ b/ros2cli/ros2cli/daemon/__init__.py
@@ -18,10 +18,8 @@
 import uuid
 
 import rclpy
-import rclpy.action
 
 from ros2cli.helpers import before_invocation
-from ros2cli.helpers import bind
 from ros2cli.helpers import get_ros_domain_id
 from ros2cli.helpers import pretty_print_call
 
@@ -85,7 +83,7 @@ def serve(server: LocalXMLRPCServer, *, timeout: int = 2 * 60 * 60):
             node.get_node_names_and_namespaces_with_enclaves,
             node.get_topic_names_and_types,
             node.get_service_names_and_types,
-            bind(rclpy.action.get_action_names_and_types, node),
+            node.get_action_names_and_types,
             node.get_publisher_names_and_types_by_node,
             node.get_publishers_info_by_topic,
             node.get_subscriber_names_and_types_by_node,
@@ -94,8 +92,8 @@ def serve(server: LocalXMLRPCServer, *, timeout: int = 2 * 60 * 60):
             node.get_servers_info_by_service,
             node.get_clients_info_by_service,
             node.get_client_names_and_types_by_node,
-            bind(rclpy.action.get_action_server_names_and_types_by_node, node),
-            bind(rclpy.action.get_action_client_names_and_types_by_node, node),
+            node.get_action_server_names_and_types_by_node,
+            node.get_action_client_names_and_types_by_node,
             node.count_publishers,
             node.count_subscribers,
             node.count_clients,
diff --git a/ros2cli/ros2cli/node/direct.py b/ros2cli/ros2cli/node/direct.py
index 8be7cf098..a030010ff 100644
--- a/ros2cli/ros2cli/node/direct.py
+++ b/ros2cli/ros2cli/node/direct.py
@@ -16,7 +16,6 @@
 from typing import Optional
 
 import rclpy
-import rclpy.action
 
 from rclpy.parameter import Parameter
 from ros2cli.helpers import check_discovery_configuration
@@ -69,19 +68,16 @@ def timer_callback():
     def __enter__(self):
         return self
 
-    # TODO(hidmic): generalize/standardize rclpy graph API
-    #               to not have to make a special case for
-    #               rclpy.action
     def get_action_names_and_types(self) -> list[tuple[str, list[str]]]:
-        return rclpy.action.get_action_names_and_types(self.node)
+        return self.node.get_action_names_and_types()
 
     def get_action_client_names_and_types_by_node(self, remote_node_name, remote_node_namespace):
-        return rclpy.action.get_action_client_names_and_types_by_node(
-            self.node, remote_node_name, remote_node_namespace)
+        return self.node.get_action_client_names_and_types_by_node(
+            remote_node_name, remote_node_namespace)
 
     def get_action_server_names_and_types_by_node(self, remote_node_name, remote_node_namespace):
-        return rclpy.action.get_action_server_names_and_types_by_node(
-            self.node, remote_node_name, remote_node_namespace)
+        return self.node.get_action_server_names_and_types_by_node(
+            remote_node_name, remote_node_namespace)
 
     def __getattr__(self, name):
         if not rclpy.ok():