diff --git a/rclcpp/include/rclcpp/any_executable.hpp b/rclcpp/include/rclcpp/any_executable.hpp
index ed01d45bc1..5d4064f452 100644
--- a/rclcpp/include/rclcpp/any_executable.hpp
+++ b/rclcpp/include/rclcpp/any_executable.hpp
@@ -50,12 +50,6 @@ struct AnyExecutable
   std::shared_ptr<void> data;
 };
 
-namespace executor
-{
-
-using AnyExecutable [[deprecated("use rclcpp::AnyExecutable instead")]] = AnyExecutable;
-
-}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__ANY_EXECUTABLE_HPP_
diff --git a/rclcpp/include/rclcpp/callback_group.hpp b/rclcpp/include/rclcpp/callback_group.hpp
index fe52d287bb..efa8352206 100644
--- a/rclcpp/include/rclcpp/callback_group.hpp
+++ b/rclcpp/include/rclcpp/callback_group.hpp
@@ -222,13 +222,6 @@ class CallbackGroup
   }
 };
 
-namespace callback_group
-{
-
-using CallbackGroupType [[deprecated("use rclcpp::CallbackGroupType instead")]] = CallbackGroupType;
-using CallbackGroup [[deprecated("use rclcpp::CallbackGroup instead")]] = CallbackGroup;
-
-}  // namespace callback_group
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CALLBACK_GROUP_HPP_
diff --git a/rclcpp/include/rclcpp/contexts/default_context.hpp b/rclcpp/include/rclcpp/contexts/default_context.hpp
index 0c2bbf8265..7c4ac63ef0 100644
--- a/rclcpp/include/rclcpp/contexts/default_context.hpp
+++ b/rclcpp/include/rclcpp/contexts/default_context.hpp
@@ -36,22 +36,6 @@ RCLCPP_PUBLIC
 DefaultContext::SharedPtr
 get_global_default_context();
 
-namespace default_context
-{
-
-using DefaultContext
-[[deprecated("use rclcpp::contexts::DefaultContext instead")]] = DefaultContext;
-
-[[deprecated("use rclcpp::contexts::get_global_default_context() instead")]]
-RCLCPP_PUBLIC
-inline
-DefaultContext::SharedPtr
-get_global_default_context()
-{
-  return rclcpp::contexts::get_global_default_context();
-}
-
-}  // namespace default_context
 }  // namespace contexts
 }  // namespace rclcpp
 
diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 9321f679fc..bc4e167a1e 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -573,12 +573,6 @@ class Executor
   weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 };
 
-namespace executor
-{
-
-using Executor [[deprecated("use rclcpp::Executor instead")]] = rclcpp::Executor;
-
-}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EXECUTOR_HPP_
diff --git a/rclcpp/include/rclcpp/executor_options.hpp b/rclcpp/include/rclcpp/executor_options.hpp
index d5ec6d0da9..066f29eb4e 100644
--- a/rclcpp/include/rclcpp/executor_options.hpp
+++ b/rclcpp/include/rclcpp/executor_options.hpp
@@ -38,20 +38,6 @@ struct ExecutorOptions
   size_t max_conditions;
 };
 
-namespace executor
-{
-
-using ExecutorArgs [[deprecated("use rclcpp::ExecutorOptions instead")]] = ExecutorOptions;
-
-[[deprecated("use rclcpp::ExecutorOptions() instead")]]
-inline
-rclcpp::ExecutorOptions
-create_default_executor_arguments()
-{
-  return rclcpp::ExecutorOptions();
-}
-
-}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EXECUTOR_OPTIONS_HPP_
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index d36a18d4dc..079be09b28 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -349,15 +349,6 @@ class Service : public ServiceBase
     send_response(*request_header, *response);
   }
 
-  [[deprecated("use the send_response() which takes references instead of shared pointers")]]
-  void
-  send_response(
-    std::shared_ptr<rmw_request_id_t> req_id,
-    std::shared_ptr<typename ServiceT::Response> response)
-  {
-    send_response(*req_id, *response);
-  }
-
   void
   send_response(rmw_request_id_t & req_id, typename ServiceT::Response & response)
   {
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
index 2b6a3db37f..5011a12c6a 100644
--- a/rclcpp/include/rclcpp/utilities.hpp
+++ b/rclcpp/include/rclcpp/utilities.hpp
@@ -143,21 +143,6 @@ RCLCPP_PUBLIC
 bool
 ok(rclcpp::Context::SharedPtr context = nullptr);
 
-/// Return true if init() has already been called for the given context.
-/**
- * If nullptr is given for the context, then the global context is used, i.e.
- * the context initialized by rclcpp::init().
- *
- * Deprecated, as it is no longer different from rcl_ok().
- *
- * \param[in] context Optional check for initialization of this Context.
- * \return true if the context is initialized, and false otherwise
- */
-[[deprecated("use the function ok() instead, which has the same usage.")]]
-RCLCPP_PUBLIC
-bool
-is_initialized(rclcpp::Context::SharedPtr context = nullptr);
-
 /// Shutdown rclcpp context, invalidating it for derived entities.
 /**
  * If nullptr is given for the context, then the global context is used, i.e.
diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
index f6244b5815..010a911889 100644
--- a/rclcpp/test/rclcpp/CMakeLists.txt
+++ b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -558,14 +558,6 @@ if(TARGET test_utilities)
   target_link_libraries(test_utilities ${PROJECT_NAME} mimick)
 endif()
 
-ament_add_gtest(test_init test_init.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_init)
-  ament_target_dependencies(test_init
-    "rcl")
-  target_link_libraries(test_init ${PROJECT_NAME})
-endif()
-
 ament_add_gtest(test_interface_traits test_interface_traits.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_interface_traits)
diff --git a/rclcpp/test/rclcpp/test_init.cpp b/rclcpp/test/rclcpp/test_init.cpp
deleted file mode 100644
index bee35f3992..0000000000
--- a/rclcpp/test/rclcpp/test_init.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include "rclcpp/exceptions.hpp"
-#include "rclcpp/utilities.hpp"
-
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-TEST(TestInit, is_initialized) {
-  EXPECT_FALSE(rclcpp::is_initialized());
-
-  rclcpp::init(0, nullptr);
-
-  EXPECT_TRUE(rclcpp::is_initialized());
-
-  rclcpp::shutdown();
-
-  EXPECT_FALSE(rclcpp::is_initialized());
-}
-
-TEST(TestInit, initialize_with_ros_args) {
-  EXPECT_FALSE(rclcpp::is_initialized());
-
-  rclcpp::init(0, nullptr);
-
-  EXPECT_TRUE(rclcpp::is_initialized());
-
-  rclcpp::shutdown();
-
-  EXPECT_FALSE(rclcpp::is_initialized());
-}
-
-TEST(TestInit, initialize_with_unknown_ros_args) {
-  EXPECT_FALSE(rclcpp::is_initialized());
-
-  const char * const argv[] = {"--ros-args", "unknown"};
-  const int argc = static_cast<int>(sizeof(argv) / sizeof(const char *));
-  EXPECT_THROW({rclcpp::init(argc, argv);}, rclcpp::exceptions::UnknownROSArgsError);
-
-  EXPECT_FALSE(rclcpp::is_initialized());
-}
-
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif