diff --git a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp
index 06363db603..51c771323e 100644
--- a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp
+++ b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp
@@ -93,16 +93,6 @@ class LifecycleManager : public rclcpp::Node
    * @return true or false
    */
   bool startup();
-  /**
-   * @brief Configures the managed nodes.
-   * @return true or false
-   */
-  bool configure();
-  /**
-   * @brief Cleanups the managed nodes
-   * @return true or false
-   */
-  bool cleanup();
   /**
    * @brief Deactivate, clean up and shut down all the managed nodes.
    * @return true or false
diff --git a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
index 80e9305e9e..076e848902 100644
--- a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
+++ b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
@@ -78,16 +78,6 @@ class LifecycleManagerClient
    * @return true or false
    */
   bool reset(const std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
-  /**
-   * @brief Make configure service call
-   * @return true or false
-   */
-  bool configure(const std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
-  /**
-   * @brief Make cleanup service call
-   * @return true or false
-   */
-  bool cleanup(const std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
   /**
    * @brief Check if lifecycle node manager server is active
    * @return ACTIVE or INACTIVE or TIMEOUT
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
index 0347a25505..52cbeff310 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -125,12 +125,6 @@ LifecycleManager::managerCallback(
     case ManageLifecycleNodes::Request::STARTUP:
       response->success = startup();
       break;
-    case ManageLifecycleNodes::Request::CONFIGURE:
-      response->success = configure();
-      break;
-    case ManageLifecycleNodes::Request::CLEANUP:
-      response->success = cleanup();
-      break;
     case ManageLifecycleNodes::Request::RESET:
       response->success = reset();
       break;
@@ -297,34 +291,6 @@ LifecycleManager::startup()
   return true;
 }
 
-bool
-LifecycleManager::configure()
-{
-  message("Configuring managed nodes...");
-  if (!changeStateForAllNodes(Transition::TRANSITION_CONFIGURE)) {
-    RCLCPP_ERROR(get_logger(), "Failed to configure all requested nodes. Aborting bringup.");
-    managed_nodes_state_ = NodeState::UNKNOWN;
-    return false;
-  }
-  message("Managed nodes are now configured");
-  managed_nodes_state_ = NodeState::INACTIVE;
-  return true;
-}
-
-bool
-LifecycleManager::cleanup()
-{
-  message("Cleaning up managed nodes...");
-  if (!changeStateForAllNodes(Transition::TRANSITION_CLEANUP)) {
-    RCLCPP_ERROR(get_logger(), "Failed to cleanup all requested nodes. Aborting cleanup.");
-    managed_nodes_state_ = NodeState::UNKNOWN;
-    return false;
-  }
-  message("Managed nodes have been cleaned up");
-  managed_nodes_state_ = NodeState::UNCONFIGURED;
-  return true;
-}
-
 bool
 LifecycleManager::shutdown()
 {
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp b/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
index 123c69b58e..632eb1aa8e 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
@@ -73,18 +73,6 @@ LifecycleManagerClient::reset(const std::chrono::nanoseconds timeout)
   return callService(ManageLifecycleNodes::Request::RESET, timeout);
 }
 
-bool
-LifecycleManagerClient::configure(const std::chrono::nanoseconds timeout)
-{
-  return callService(ManageLifecycleNodes::Request::CONFIGURE, timeout);
-}
-
-bool
-LifecycleManagerClient::cleanup(const std::chrono::nanoseconds timeout)
-{
-  return callService(ManageLifecycleNodes::Request::CLEANUP, timeout);
-}
-
 SystemStatus
 LifecycleManagerClient::is_active(const std::chrono::nanoseconds timeout)
 {
diff --git a/nav2_lifecycle_manager/test/test_lifecycle_manager.cpp b/nav2_lifecycle_manager/test/test_lifecycle_manager.cpp
index c2c0cb75f0..96114f98a5 100644
--- a/nav2_lifecycle_manager/test/test_lifecycle_manager.cpp
+++ b/nav2_lifecycle_manager/test/test_lifecycle_manager.cpp
@@ -100,8 +100,6 @@ TEST(LifecycleClientTest, BasicTest)
     client.is_active(std::chrono::nanoseconds(1000000000)));
   EXPECT_TRUE(client.resume());
   EXPECT_TRUE(client.reset());
-  EXPECT_TRUE(client.configure());
-  EXPECT_TRUE(client.cleanup());
   EXPECT_TRUE(client.shutdown());
 }
 
diff --git a/nav2_msgs/srv/ManageLifecycleNodes.srv b/nav2_msgs/srv/ManageLifecycleNodes.srv
index bb84f3e231..8f37cbf819 100644
--- a/nav2_msgs/srv/ManageLifecycleNodes.srv
+++ b/nav2_msgs/srv/ManageLifecycleNodes.srv
@@ -3,8 +3,6 @@ uint8 PAUSE = 1
 uint8 RESUME = 2
 uint8 RESET = 3
 uint8 SHUTDOWN = 4
-uint8 CONFIGURE = 5
-uint8 CLEANUP = 6
 
 uint8 command
 ---