diff --git a/rclcpp/minimal_action_client/not_composable.cpp b/rclcpp/minimal_action_client/not_composable.cpp
index 0259fcc0..05500c2f 100644
--- a/rclcpp/minimal_action_client/not_composable.cpp
+++ b/rclcpp/minimal_action_client/not_composable.cpp
@@ -54,7 +54,7 @@ int main(int argc, char ** argv)
   }
 
   // Wait for the server to be done with the goal
-  auto result_future = goal_handle->async_result();
+  auto result_future = action_client->async_get_result(goal_handle);
 
   RCLCPP_INFO(node->get_logger(), "Waiting for result");
   if (rclcpp::spin_until_future_complete(node, result_future) !=
diff --git a/rclcpp/minimal_action_client/not_composable_with_cancel.cpp b/rclcpp/minimal_action_client/not_composable_with_cancel.cpp
index abd846dc..33bc58c4 100644
--- a/rclcpp/minimal_action_client/not_composable_with_cancel.cpp
+++ b/rclcpp/minimal_action_client/not_composable_with_cancel.cpp
@@ -54,7 +54,7 @@ int main(int argc, char ** argv)
   }
 
   // Wait for the server to be done with the goal
-  auto result_future = goal_handle->async_result();
+  auto result_future = action_client->async_get_result(goal_handle);
 
   auto wait_result = rclcpp::spin_until_future_complete(
     node,
diff --git a/rclcpp/minimal_action_client/not_composable_with_feedback.cpp b/rclcpp/minimal_action_client/not_composable_with_feedback.cpp
index b54f162d..313cb232 100644
--- a/rclcpp/minimal_action_client/not_composable_with_feedback.cpp
+++ b/rclcpp/minimal_action_client/not_composable_with_feedback.cpp
@@ -68,7 +68,7 @@ int main(int argc, char ** argv)
   }
 
   // Wait for the server to be done with the goal
-  auto result_future = goal_handle->async_result();
+  auto result_future = action_client->async_get_result(goal_handle);
 
   RCLCPP_INFO(g_node->get_logger(), "Waiting for result");
   if (rclcpp::spin_until_future_complete(g_node, result_future) !=