diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
index 6b58e365dcd..6ca6145b239 100644
--- a/hardware_interface/src/actuator.cpp
+++ b/hardware_interface/src/actuator.cpp
@@ -84,12 +84,12 @@ const rclcpp_lifecycle::State & Actuator::cleanup()
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
+    impl_->set_state(rclcpp_lifecycle::State(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+      lifecycle_state_names::UNCONFIGURED));
     switch (impl_->on_cleanup(impl_->get_state()))
     {
       case CallbackReturn::SUCCESS:
-        impl_->set_state(rclcpp_lifecycle::State(
-          lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
-          lifecycle_state_names::UNCONFIGURED));
         break;
       case CallbackReturn::FAILURE:
       case CallbackReturn::ERROR:
diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
index 2e53e447b92..b0c8d3ceeac 100644
--- a/hardware_interface/src/sensor.cpp
+++ b/hardware_interface/src/sensor.cpp
@@ -82,12 +82,12 @@ const rclcpp_lifecycle::State & Sensor::cleanup()
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
+    impl_->set_state(rclcpp_lifecycle::State(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+      lifecycle_state_names::UNCONFIGURED));
     switch (impl_->on_cleanup(impl_->get_state()))
     {
       case CallbackReturn::SUCCESS:
-        impl_->set_state(rclcpp_lifecycle::State(
-          lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
-          lifecycle_state_names::UNCONFIGURED));
         break;
       case CallbackReturn::FAILURE:
       case CallbackReturn::ERROR:
diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
index ee942d6581e..85a7ee13b9d 100644
--- a/hardware_interface/src/system.cpp
+++ b/hardware_interface/src/system.cpp
@@ -82,12 +82,12 @@ const rclcpp_lifecycle::State & System::cleanup()
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
+    impl_->set_state(rclcpp_lifecycle::State(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+      lifecycle_state_names::UNCONFIGURED));
     switch (impl_->on_cleanup(impl_->get_state()))
     {
       case CallbackReturn::SUCCESS:
-        impl_->set_state(rclcpp_lifecycle::State(
-          lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
-          lifecycle_state_names::UNCONFIGURED));
         break;
       case CallbackReturn::FAILURE:
       case CallbackReturn::ERROR: