diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
index 63a8c061f5..4031e2a497 100644
--- a/controller_interface/src/controller_interface_base.cpp
+++ b/controller_interface/src/controller_interface_base.cpp
@@ -58,15 +58,8 @@ return_type ControllerInterfaceBase::init(
   node_->register_on_cleanup(
     std::bind(&ControllerInterfaceBase::on_cleanup, this, std::placeholders::_1));
 
-  auto activate_callback = [this](const rclcpp_lifecycle::State & state)
-  {
-    if (is_async() && async_handler_)
-    {
-      async_handler_->start_async_update_thread();
-    }
-    return on_activate(state);
-  };
-  node_->register_on_activate(activate_callback);
+  node_->register_on_activate(
+    std::bind(&ControllerInterfaceBase::on_activate, this, std::placeholders::_1));
 
   node_->register_on_deactivate(
     std::bind(&ControllerInterfaceBase::on_deactivate, this, std::placeholders::_1));
@@ -102,6 +95,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
       std::bind(&ControllerInterfaceBase::get_state, this),
       std::bind(
         &ControllerInterfaceBase::update, this, std::placeholders::_1, std::placeholders::_2));
+    async_handler_->start_async_update_thread();
   }
 
   return get_node()->configure();