diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
index b53397899f..767fee3a7f 100644
--- a/hardware_interface/include/hardware_interface/actuator_interface.hpp
+++ b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -113,10 +113,10 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
       write_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
       read_async_handler_->init(
         std::bind(&ActuatorInterface::read, this, std::placeholders::_1, std::placeholders::_2));
-      read_async_handler_->start_async_update_thread();
+      read_async_handler_->start_thread();
       write_async_handler_->init(
         std::bind(&ActuatorInterface::write, this, std::placeholders::_1, std::placeholders::_2));
-      write_async_handler_->start_async_update_thread();
+      write_async_handler_->start_thread();
     }
     return on_init(hardware_info);
   };
@@ -228,7 +228,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
           info_.name.c_str());
         return return_type::OK;
       }
-      std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
+      std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
       if (!trigger_status)
       {
         RCLCPP_WARN(
@@ -293,7 +293,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
           info_.name.c_str());
         return return_type::OK;
       }
-      std::tie(trigger_status, result) = write_async_handler_->trigger_async_update(time, period);
+      std::tie(trigger_status, result) = write_async_handler_->trigger_async_callback(time, period);
       if (!trigger_status)
       {
         RCLCPP_WARN(
diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
index 6247bda4eb..69d9b9063e 100644
--- a/hardware_interface/include/hardware_interface/sensor_interface.hpp
+++ b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -112,7 +112,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
       read_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
       read_async_handler_->init(
         std::bind(&SensorInterface::read, this, std::placeholders::_1, std::placeholders::_2));
-      read_async_handler_->start_async_update_thread();
+      read_async_handler_->start_thread();
     }
     return on_init(hardware_info);
   };
@@ -155,7 +155,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     if (info_.is_async)
     {
       bool trigger_status = true;
-      std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
+      std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
       if (!trigger_status)
       {
         RCLCPP_WARN(
diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
index 2031f7fe3b..cd86cc1a7c 100644
--- a/hardware_interface/include/hardware_interface/system_interface.hpp
+++ b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -115,10 +115,10 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
       write_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
       read_async_handler_->init(
         std::bind(&SystemInterface::read, this, std::placeholders::_1, std::placeholders::_2));
-      read_async_handler_->start_async_update_thread();
+      read_async_handler_->start_thread();
       write_async_handler_->init(
         std::bind(&SystemInterface::write, this, std::placeholders::_1, std::placeholders::_2));
-      write_async_handler_->start_async_update_thread();
+      write_async_handler_->start_thread();
     }
     return on_init(hardware_info);
   };
@@ -230,7 +230,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
           info_.name.c_str());
         return return_type::OK;
       }
-      std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
+      std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
       if (!trigger_status)
       {
         RCLCPP_WARN(
@@ -295,7 +295,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
           info_.name.c_str());
         return return_type::OK;
       }
-      std::tie(trigger_status, result) = write_async_handler_->trigger_async_update(time, period);
+      std::tie(trigger_status, result) = write_async_handler_->trigger_async_callback(time, period);
       if (!trigger_status)
       {
         RCLCPP_WARN(