diff --git a/pilz_control/include/pilz_control/pilz_joint_trajectory_controller_impl.h b/pilz_control/include/pilz_control/pilz_joint_trajectory_controller_impl.h
index 10eb26ed0..3a937c73d 100644
--- a/pilz_control/include/pilz_control/pilz_joint_trajectory_controller_impl.h
+++ b/pilz_control/include/pilz_control/pilz_joint_trajectory_controller_impl.h
@@ -27,10 +27,17 @@ namespace pilz_joint_trajectory_controller
 static constexpr double SPEED_LIMIT_ACTIVATED{ 0.25 };
 static constexpr double SPEED_LIMIT_NOT_ACTIVATED{ -1.0 };
 
-static const std::string USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE{
-  "For safety reasons the trajectory command interface is deactivated"
-  " (for more information see https://github.com/ros-controls/ros_controllers/issues/493)."
-  " Please use the action interface instead."
+static const std::string USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE_WARN{
+  "The topic interface of the original `joint_trajectory_controller` is deactivated. Please use the action interface "
+  "to send goals, that allows monitoring and receiving notifications about cancelled goals. If nonetheless you need "
+  "the topic interface feel encouraged to open an issue with this feature request at "
+  "https://github.com/PilzDE/pilz_robots/issues"
+};
+
+static const std::string USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE_INFO{
+  "For the reason behind the deactivation of this interface see "
+  "https://github.com/ros-controls/ros_controllers/issues/493). "
+  "PR welcome ;-)"
 };
 
 namespace ph = std::placeholders;
@@ -287,7 +294,8 @@ template <class SegmentImpl, class HardwareInterface>
 void PilzJointTrajectoryController<SegmentImpl, HardwareInterface>::trajectoryCommandCB(
     const JointTrajectoryConstPtr& /*msg*/)
 {
-  ROS_WARN_STREAM_NAMED(this->name_, USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE);
+  ROS_WARN_STREAM_NAMED(this->name_, USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE_WARN);
+  ROS_INFO_STREAM_NAMED(this->name_, USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE_INFO);
 }
 
 }  // namespace pilz_joint_trajectory_controller
diff --git a/pilz_control/test/unittest_pilz_joint_trajectory_controller.cpp b/pilz_control/test/unittest_pilz_joint_trajectory_controller.cpp
index 3d8f2af05..17efe4a12 100644
--- a/pilz_control/test/unittest_pilz_joint_trajectory_controller.cpp
+++ b/pilz_control/test/unittest_pilz_joint_trajectory_controller.cpp
@@ -52,8 +52,6 @@ static const std::string UNHOLD_SERVICE{ "/unhold" };
 static const std::string IS_EXECUTING_SERVICE{ "/is_executing" };
 static const std::string TRAJECTORY_COMMAND_TOPIC{ "/command" };
 
-static const std::string LOG_MSG_RECEIVED_EVENT{ "log_msg_received" };
-
 using namespace pilz_joint_trajectory_controller;
 
 using HWInterface = hardware_interface::PositionJointInterface;
@@ -495,8 +493,12 @@ TEST_P(PilzJointTrajectoryControllerIsExecutingTest, testActionGoalExecution)
   EXPECT_FALSE(is_executing_result) << "There should be no execution to detect";
 }
 
+using pilz_testutils::IsINFO;
 using pilz_testutils::IsWARN;
+using ::testing::InSequence;
 using ::testing::_;
+static const std::string LOG_MSG_RECEIVED_EVENT_WARN{ "log_msg_received_warn" };
+static const std::string LOG_MSG_RECEIVED_EVENT_INFO{ "log_msg_received_info" };
 /**
  * @brief Tests that the controller does not execute if a trajectory is sent via command interface.
  */
@@ -511,16 +513,20 @@ TEST_P(PilzJointTrajectoryControllerIsExecutingTest, testTrajCommandExecution)
   GoalType goal{ generateSimpleGoal() };
 
   pilz_testutils::LoggerMock logger_mock_holder;
+  InSequence seq;
   EXPECT_LOG(*logger_mock_holder, WARN,
-             pilz_joint_trajectory_controller::USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE)
-      .WillOnce(ACTION_OPEN_BARRIER_VOID(LOG_MSG_RECEIVED_EVENT));
+             pilz_joint_trajectory_controller::USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE_WARN)
+      .WillOnce(ACTION_OPEN_BARRIER_VOID(LOG_MSG_RECEIVED_EVENT_WARN));
+  EXPECT_LOG(*logger_mock_holder, INFO,
+             pilz_joint_trajectory_controller::USER_NOTIFICATION_NOT_IMPLEMENTED_COMMAND_INTERFACE_INFO)
+      .WillOnce(ACTION_OPEN_BARRIER_VOID(LOG_MSG_RECEIVED_EVENT_INFO));
 
   trajectory_command_publisher.publish(goal.trajectory);
 
   ros::Duration observation_time = getGoalDuration(goal) + ros::Duration(DEFAULT_UPDATE_PERIOD_SEC);
   EXPECT_FALSE(
       updateUntilRobotMotion(&robot_driver_, std::chrono::milliseconds(observation_time.toNSec() * 1000000ll)));
-  BARRIER(LOG_MSG_RECEIVED_EVENT);
+  BARRIER({LOG_MSG_RECEIVED_EVENT_WARN, LOG_MSG_RECEIVED_EVENT_INFO});
 }
 
 TEST_P(PilzJointTrajectoryControllerIsExecutingTest, testStopTrajExecutionAtHold)