diff --git a/rclcpp_components/include/rclcpp_components/component_manager.hpp b/rclcpp_components/include/rclcpp_components/component_manager.hpp
index 6238284278..9d98bd89d4 100644
--- a/rclcpp_components/include/rclcpp_components/component_manager.hpp
+++ b/rclcpp_components/include/rclcpp_components/component_manager.hpp
@@ -185,20 +185,6 @@ class ComponentManager : public rclcpp::Node
     const std::shared_ptr<LoadNode::Request> request,
     std::shared_ptr<LoadNode::Response> response);
 
-  /**
-   * \deprecated Use on_load_node() instead
-   */
-  [[deprecated("Use on_load_node() instead")]]
-  RCLCPP_COMPONENTS_PUBLIC
-  virtual void
-  OnLoadNode(
-    const std::shared_ptr<rmw_request_id_t> request_header,
-    const std::shared_ptr<LoadNode::Request> request,
-    std::shared_ptr<LoadNode::Response> response)
-  {
-    on_load_node(request_header, request, response);
-  }
-
   /// Service callback to unload a node in the component
   /**
    * \param request_header unused
@@ -213,20 +199,6 @@ class ComponentManager : public rclcpp::Node
     const std::shared_ptr<UnloadNode::Request> request,
     std::shared_ptr<UnloadNode::Response> response);
 
-  /**
-   * \deprecated Use on_unload_node() instead
-   */
-  [[deprecated("Use on_unload_node() instead")]]
-  RCLCPP_COMPONENTS_PUBLIC
-  virtual void
-  OnUnloadNode(
-    const std::shared_ptr<rmw_request_id_t> request_header,
-    const std::shared_ptr<UnloadNode::Request> request,
-    std::shared_ptr<UnloadNode::Response> response)
-  {
-    on_unload_node(request_header, request, response);
-  }
-
   /// Service callback to get the list of nodes in the component
   /**
    * Return a two list: one with the unique identifiers and other with full name of the nodes.
@@ -242,20 +214,6 @@ class ComponentManager : public rclcpp::Node
     const std::shared_ptr<ListNodes::Request> request,
     std::shared_ptr<ListNodes::Response> response);
 
-  /**
-   * \deprecated Use on_list_nodes() instead
-   */
-  [[deprecated("Use on_list_nodes() instead")]]
-  RCLCPP_COMPONENTS_PUBLIC
-  virtual void
-  OnListNodes(
-    const std::shared_ptr<rmw_request_id_t> request_header,
-    const std::shared_ptr<ListNodes::Request> request,
-    std::shared_ptr<ListNodes::Response> response)
-  {
-    on_list_nodes(request_header, request, response);
-  }
-
 protected:
   std::weak_ptr<rclcpp::Executor> executor_;