diff --git a/rclcpp/include/rclcpp/event_handler.hpp b/rclcpp/include/rclcpp/event_handler.hpp
index 3f41de469c..f9b75eb7cf 100644
--- a/rclcpp/include/rclcpp/event_handler.hpp
+++ b/rclcpp/include/rclcpp/event_handler.hpp
@@ -260,6 +260,16 @@ class EventHandler : public EventHandlerBase
     }
   }
 
+  ~EventHandler()
+  {
+    // Since the rmw event listener holds a reference to the
+    // "on ready" callback, we need to clear it on destruction of this class.
+    // This clearing is not needed for other rclcpp entities like pub/subs, since
+    // they do own the underlying rmw entities, which are destroyed
+    // on their rclcpp destructors, thus no risk of dangling pointers.
+    clear_on_ready_callback();
+  }
+
   /// Take data so that the callback cannot be scheduled again
   std::shared_ptr<void>
   take_data() override
diff --git a/rclcpp/src/rclcpp/event_handler.cpp b/rclcpp/src/rclcpp/event_handler.cpp
index 40ae6c030d..d4b4d57b08 100644
--- a/rclcpp/src/rclcpp/event_handler.cpp
+++ b/rclcpp/src/rclcpp/event_handler.cpp
@@ -39,13 +39,6 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(
 
 EventHandlerBase::~EventHandlerBase()
 {
-  // Since the rmw event listener holds a reference to
-  // this callback, we need to clear it on destruction of this class.
-  // This clearing is not needed for other rclcpp entities like pub/subs, since
-  // they do own the underlying rmw entities, which are destroyed
-  // on their rclcpp destructors, thus no risk of dangling pointers.
-  clear_on_ready_callback();
-
   if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",