diff --git a/sros2/sros2/command/security.py b/sros2/sros2/command/security.py
index 23e3eb2f..02ff5b82 100644
--- a/sros2/sros2/command/security.py
+++ b/sros2/sros2/command/security.py
@@ -12,9 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ros2cli.command import add_subparsers
+from ros2cli.command import add_subparsers_on_demand
 from ros2cli.command import CommandExtension
-from ros2cli.verb import get_verb_extensions
 
 
 class SecurityCommand(CommandExtension):
@@ -23,8 +22,8 @@ class SecurityCommand(CommandExtension):
     def add_arguments(self, parser, cli_name):
         self._subparser = parser
         # get verb extensions and let them add their arguments
-        verb_extensions = get_verb_extensions('sros2.verb')
-        add_subparsers(parser, cli_name, '_verb', verb_extensions, required=False)
+        add_subparsers_on_demand(
+            parser, cli_name, '_verb', 'sros2.verb', required=False)
 
     def main(self, *, parser, args):
         if not hasattr(args, '_verb'):