diff --git a/hardware_interface/include/hardware_interface/hardware_component.hpp b/hardware_interface/include/hardware_interface/hardware_component.hpp
index 2d506f8bd1..c7b2cd2e98 100644
--- a/hardware_interface/include/hardware_interface/hardware_component.hpp
+++ b/hardware_interface/include/hardware_interface/hardware_component.hpp
@@ -51,19 +51,6 @@ class HardwareComponent final
 
   HardwareComponent & operator=(HardwareComponent && other) = delete;
 
-  [[deprecated(
-    "Replaced by const rclcpp_lifecycle::State & initialize(const "
-    "hardware_interface::HardwareComponentParams & params).")]]
-  const rclcpp_lifecycle::State & initialize(
-    const HardwareInfo & component_info, rclcpp::Logger logger,
-    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface);
-
-  [[deprecated(
-    "Replaced by const rclcpp_lifecycle::State & initialize(const "
-    "hardware_interface::HardwareComponentParams & params).")]]
-  const rclcpp_lifecycle::State & initialize(
-    const HardwareInfo & component_info, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock);
-
   const rclcpp_lifecycle::State & initialize(
     const hardware_interface::HardwareComponentParams & params);
 
diff --git a/hardware_interface/include/hardware_interface/hardware_component_interface.hpp b/hardware_interface/include/hardware_interface/hardware_component_interface.hpp
index 097c4708bf..3bf4fb849a 100644
--- a/hardware_interface/include/hardware_interface/hardware_component_interface.hpp
+++ b/hardware_interface/include/hardware_interface/hardware_component_interface.hpp
@@ -93,27 +93,6 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
 
   virtual ~HardwareComponentInterface() = default;
 
-  /// Initialization of the hardware interface from data parsed from the robot's URDF and also the
-  /// clock and logger interfaces.
-  /**
-   * \param[in] hardware_info structure with data from URDF.
-   * \param[in] clock pointer to the resource manager clock.
-   * \param[in] logger Logger for the hardware component.
-   * \returns CallbackReturn::SUCCESS if required data are provided and can be parsed.
-   * \returns CallbackReturn::ERROR if any error happens or data are missing.
-   */
-  [[deprecated(
-    "Replaced by CallbackReturn init(const hardware_interface::HardwareComponentParams & "
-    "params). Initialization is handled by the Framework.")]] CallbackReturn
-  init(const HardwareInfo & hardware_info, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)
-  {
-    hardware_interface::HardwareComponentParams params;
-    params.hardware_info = hardware_info;
-    params.clock = clock;
-    params.logger = logger;
-    return init(params);
-  };
-
   /// Initialization of the hardware interface from data parsed from the robot's URDF and also the
   /// clock and logger interfaces.
   /**
@@ -335,16 +314,18 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
 
   /// Initialization of the hardware interface from data parsed from the robot's URDF.
   /**
-   * \param[in] hardware_info structure with data from URDF.
+   * \param[in] params  A struct of type hardware_interface::HardwareComponentInterfaceParams
+   * containing all necessary parameters for initializing this specific hardware component,
+   * specifically its HardwareInfo, and a weak_ptr to the executor.
+   * \warning The parsed executor should not be used to call `cancel()` or use blocking callbacks
+   * such as `spin()`.
    * \returns CallbackReturn::SUCCESS if required data are provided and can be parsed.
    * \returns CallbackReturn::ERROR if any error happens or data are missing.
    */
-  [[deprecated(
-    "Use on_init(const HardwareComponentInterfaceParams & params) "
-    "instead.")]] virtual CallbackReturn
-  on_init(const HardwareInfo & hardware_info)
+  virtual CallbackReturn on_init(
+    const hardware_interface::HardwareComponentInterfaceParams & params)
   {
-    info_ = hardware_info;
+    info_ = params.hardware_info;
     if (info_.type == "actuator")
     {
       parse_state_interface_descriptions(info_.joints, joint_state_interfaces_);
@@ -366,26 +347,6 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
     return CallbackReturn::SUCCESS;
   };
 
-  /// Initialization of the hardware interface from data parsed from the robot's URDF.
-  /**
-   * \param[in] params  A struct of type hardware_interface::HardwareComponentInterfaceParams
-   * containing all necessary parameters for initializing this specific hardware component,
-   * specifically its HardwareInfo, and a weak_ptr to the executor.
-   * \warning The parsed executor should not be used to call `cancel()` or use blocking callbacks
-   * such as `spin()`.
-   * \returns CallbackReturn::SUCCESS if required data are provided and can be parsed.
-   * \returns CallbackReturn::ERROR if any error happens or data are missing.
-   */
-  virtual CallbackReturn on_init(
-    const hardware_interface::HardwareComponentInterfaceParams & params)
-  {
-    // This is done for backward compatibility with the old on_init method.
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    return on_init(params.hardware_info);
-#pragma GCC diagnostic pop
-  };
-
   /// Exports all state interfaces for this hardware interface.
   /**
    * Old way of exporting the StateInterfaces. If a empty vector is returned then
diff --git a/hardware_interface/include/hardware_interface/loaned_command_interface.hpp b/hardware_interface/include/hardware_interface/loaned_command_interface.hpp
index 58c6facc26..08ae5d0d1f 100644
--- a/hardware_interface/include/hardware_interface/loaned_command_interface.hpp
+++ b/hardware_interface/include/hardware_interface/loaned_command_interface.hpp
@@ -114,22 +114,6 @@ class LoanedCommandInterface
     return true;
   }
 
-  [[deprecated(
-    "Use std::optional<T> get_optional() instead to retrieve the value. This method will be "
-    "removed by the ROS 2 Lyrical Luth release.")]]
-  double get_value() const
-  {
-    std::optional<double> opt_value = get_optional();
-    if (opt_value.has_value())
-    {
-      return opt_value.value();
-    }
-    else
-    {
-      return std::numeric_limits<double>::quiet_NaN();
-    }
-  }
-
   /**
    * @brief Get the value of the command interface.
    * @tparam T The type of the value to be retrieved.
diff --git a/hardware_interface/include/hardware_interface/loaned_state_interface.hpp b/hardware_interface/include/hardware_interface/loaned_state_interface.hpp
index 46b087ad75..ab2720af37 100644
--- a/hardware_interface/include/hardware_interface/loaned_state_interface.hpp
+++ b/hardware_interface/include/hardware_interface/loaned_state_interface.hpp
@@ -69,22 +69,6 @@ class LoanedStateInterface
 
   const std::string & get_prefix_name() const { return state_interface_.get_prefix_name(); }
 
-  [[deprecated(
-    "Use std::optional<T> get_optional() instead to retrieve the value. This method will be "
-    "removed by the ROS 2 Lyrical Luth release.")]]
-  double get_value() const
-  {
-    std::optional<double> opt_value = get_optional();
-    if (opt_value.has_value())
-    {
-      return opt_value.value();
-    }
-    else
-    {
-      return std::numeric_limits<double>::quiet_NaN();
-    }
-  }
-
   /**
    * @brief Get the value of the state interface.
    * @tparam T The type of the value to be retrieved.
diff --git a/hardware_interface/src/hardware_component.cpp b/hardware_interface/src/hardware_component.cpp
index 24a166ce05..9d7a937e36 100644
--- a/hardware_interface/src/hardware_component.cpp
+++ b/hardware_interface/src/hardware_component.cpp
@@ -46,27 +46,6 @@ HardwareComponent::HardwareComponent(HardwareComponent && other) noexcept
   last_write_cycle_time_ = rclcpp::Time(0, 0, RCL_CLOCK_UNINITIALIZED);
 }
 
-const rclcpp_lifecycle::State & HardwareComponent::initialize(
-  const HardwareInfo & hardware_info, rclcpp::Logger logger,
-  rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
-{
-  // This is done for backward compatibility with the old initialize method.
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  return this->initialize(hardware_info, logger, clock_interface->get_clock());
-#pragma GCC diagnostic pop
-}
-
-const rclcpp_lifecycle::State & HardwareComponent::initialize(
-  const HardwareInfo & hardware_info, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)
-{
-  hardware_interface::HardwareComponentParams params;
-  params.hardware_info = hardware_info;
-  params.logger = logger;
-  params.clock = clock;
-  return initialize(params);
-}
-
 const rclcpp_lifecycle::State & HardwareComponent::initialize(
   const hardware_interface::HardwareComponentParams & params)
 {