diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index a9ecdb58c3..1242c15846 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -144,6 +144,8 @@ class Publisher : public PublisherBase
     this->publish(std::move(unique_msg));
   }
 
+  [[deprecated(
+    "Use publish(*msg). Check against nullptr before calling if necessary.".)]]
   virtual void
   publish(const MessageT * msg)
   {
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
index 115b87e15e..37389b5522 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
@@ -96,9 +96,6 @@ class LifecyclePublisher : public LifecyclePublisherInterface,
    * was enabled or disabled and forwards the message
    * to the actual rclcpp Publisher base class
    */
-  [[deprecated(
-    "publishing an unique_ptr is prefered when using intra process communication."
-    " If using a shared_ptr, use publish(*msg).")]]
   virtual void
   publish(std::shared_ptr<const MessageT> msg)
   {