diff --git a/rclcpp/include/rclcpp/context.hpp b/rclcpp/include/rclcpp/context.hpp
index e511f93b4b..dee864c37f 100644
--- a/rclcpp/include/rclcpp/context.hpp
+++ b/rclcpp/include/rclcpp/context.hpp
@@ -23,6 +23,7 @@
 #include <typeindex>
 #include <typeinfo>
 #include <unordered_map>
+#include <unordered_set>
 #include <utility>
 #include <vector>
 
@@ -192,7 +193,7 @@ class Context : public std::enable_shared_from_this<Context>
    * to last step in shutdown().
    *
    * When shutdown occurs due to the signal handler, these callbacks are run
-   * asynchronoulsy in the dedicated singal handling thread.
+   * asynchronously in the dedicated singal handling thread.
    *
    * Also, shutdown() may be called from the destructor of this function.
    * Therefore, it is not safe to throw exceptions from these callbacks.
@@ -203,21 +204,21 @@ class Context : public std::enable_shared_from_this<Context>
    * and persist on repeated init's.
    *
    * \param[in] callback the on shutdown callback to be registered
-   * \return the created shared pointer of callback handler
+   * \return the weak pointer to registered callback handler
    */
   RCLCPP_PUBLIC
   virtual
-  OnShutdownCallbackHandle::SharedPtr
+  OnShutdownCallbackHandle::WeakPtr
   on_shutdown(OnShutdownCallbackHandle::OnShutdownCallbackType callback);
 
-  /// Remove a on_shutdown callback handle registered with on_shutdown.
+  /// Remove a specified shutdown callback handle.
   /**
-   * \param[in] callback_handle the on shutdown callback handle to be removed.
+   * \param[in] callback_handle the weak pointer to a shutdown callback handle
    */
   RCLCPP_PUBLIC
   virtual
   void
-  remove_on_shutdown_callback(OnShutdownCallbackHandle::SharedPtr callback_handle);
+  remove_on_shutdown_callback(const OnShutdownCallbackHandle::WeakPtr callback_handle);
 
   /// Return the shutdown callback handles as const.
   /**
@@ -225,7 +226,7 @@ class Context : public std::enable_shared_from_this<Context>
    * the list of "on shutdown" callback handles, i.e. on_shutdown().
    */
   RCLCPP_PUBLIC
-  const std::vector<OnShutdownCallbackHandle::WeakPtr> &
+  const std::unordered_set<OnShutdownCallbackHandle::SharedPtr> &
   get_on_shutdown_callbacks() const;
 
   /// Return the shutdown callback handles
@@ -234,7 +235,7 @@ class Context : public std::enable_shared_from_this<Context>
    * the list of "on shutdown" callback handles, i.e. on_shutdown().
    */
   RCLCPP_PUBLIC
-  std::vector<OnShutdownCallbackHandle::WeakPtr> &
+  std::unordered_set<OnShutdownCallbackHandle::SharedPtr> &
   get_on_shutdown_callbacks();
 
   /// Return the internal rcl context.
@@ -315,7 +316,7 @@ class Context : public std::enable_shared_from_this<Context>
   // attempt to acquire another sub context.
   std::recursive_mutex sub_contexts_mutex_;
 
-  std::vector<OnShutdownCallbackHandle::WeakPtr> on_shutdown_callbacks_;
+  std::unordered_set<OnShutdownCallbackHandle::SharedPtr> on_shutdown_callbacks_;
   std::mutex on_shutdown_callbacks_mutex_;
 
   /// Condition variable for timed sleep (see sleep_for).
diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 8fbf2417ed..2c5a167f1a 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -574,7 +574,7 @@ class Executor
   weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
   /// shutdown callback handle registered to Context
-  rclcpp::OnShutdownCallbackHandle::SharedPtr shutdown_callback_handle_;
+  rclcpp::OnShutdownCallbackHandle::WeakPtr shutdown_callback_handle_;
 };
 
 }  // namespace rclcpp
diff --git a/rclcpp/include/rclcpp/graph_listener.hpp b/rclcpp/include/rclcpp/graph_listener.hpp
index 30305ad2ff..7161d7052e 100644
--- a/rclcpp/include/rclcpp/graph_listener.hpp
+++ b/rclcpp/include/rclcpp/graph_listener.hpp
@@ -187,6 +187,9 @@ class GraphListener : public std::enable_shared_from_this<GraphListener>
   mutable std::mutex node_graph_interfaces_mutex_;
   std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;
 
+  /// shutdown callback handle registered to Context
+  rclcpp::OnShutdownCallbackHandle::WeakPtr shutdown_callback_handle_;
+
   rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 };
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
index 5011a12c6a..0a4713b9f4 100644
--- a/rclcpp/include/rclcpp/utilities.hpp
+++ b/rclcpp/include/rclcpp/utilities.hpp
@@ -177,11 +177,23 @@ shutdown(
  * \sa rclcpp::Context::on_shutdown()
  * \param[in] callback to be called when the given context is shutdown
  * \param[in] context with which to associate the context
+ * \return the weak pointer to registered callback handler
  */
 RCLCPP_PUBLIC
-void
+OnShutdownCallbackHandle::WeakPtr
 on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr context = nullptr);
 
+/// Remove a specified shutdown callback handle.
+/**
+ * \param[in] callback_handle the weak pointer to a shutdown callback handle
+ * \param[in] context with which to associate the context
+ */
+RCLCPP_PUBLIC
+void
+remove_on_shutdown(
+  const OnShutdownCallbackHandle::WeakPtr callback_handle,
+  rclcpp::Context::SharedPtr context = nullptr);
+
 /// Use the global condition variable to block for the specified amount of time.
 /**
  * This function can be interrupted early if the associated context becomes
diff --git a/rclcpp/src/rclcpp/context.cpp b/rclcpp/src/rclcpp/context.cpp
index ed3054dcb3..c2bbd791d2 100644
--- a/rclcpp/src/rclcpp/context.cpp
+++ b/rclcpp/src/rclcpp/context.cpp
@@ -19,6 +19,7 @@
 #include <sstream>
 #include <string>
 #include <vector>
+#include <unordered_set>
 #include <utility>
 
 #include "rcl/init.h"
@@ -317,11 +318,8 @@ Context::shutdown(const std::string & reason)
   // call each shutdown callback
   {
     std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
-    for (const auto & callback_handle_weak_ptr : on_shutdown_callbacks_) {
-      auto callback_handle = callback_handle_weak_ptr.lock();
-      if (callback_handle) {
-        callback_handle->callback();
-      }
+    for (const auto & callback_handle : on_shutdown_callbacks_) {
+      callback_handle->callback();
     }
   }
 
@@ -348,38 +346,35 @@ Context::shutdown(const std::string & reason)
   return true;
 }
 
-rclcpp::OnShutdownCallbackHandle::SharedPtr
+rclcpp::OnShutdownCallbackHandle::WeakPtr
 Context::on_shutdown(OnShutdownCallbackHandle::OnShutdownCallbackType callback)
 {
-  std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
   auto handle = std::make_shared<OnShutdownCallbackHandle>();
   handle->callback = callback;
-  on_shutdown_callbacks_.push_back(handle);
+  {
+    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    on_shutdown_callbacks_.emplace(handle);
+  }
   return handle;
 }
 
 void
-Context::remove_on_shutdown_callback(OnShutdownCallbackHandle::SharedPtr callback_handle)
+Context::remove_on_shutdown_callback(const OnShutdownCallbackHandle::WeakPtr callback_handle)
 {
-  std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
-  auto it = std::find_if(
-    on_shutdown_callbacks_.begin(),
-    on_shutdown_callbacks_.end(),
-    [callback_handle](const auto & weak_handle) {
-      return callback_handle.get() == weak_handle.lock().get();
-    });
-  if (it != on_shutdown_callbacks_.end()) {
-    on_shutdown_callbacks_.erase(it);
+  auto callback_handle_shared_ptr = callback_handle.lock();
+  if (callback_handle_shared_ptr) {
+    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    on_shutdown_callbacks_.erase(callback_handle_shared_ptr);
   }
 }
 
-const std::vector<rclcpp::OnShutdownCallbackHandle::WeakPtr> &
+const std::unordered_set<rclcpp::OnShutdownCallbackHandle::SharedPtr> &
 Context::get_on_shutdown_callbacks() const
 {
   return on_shutdown_callbacks_;
 }
 
-std::vector<rclcpp::OnShutdownCallbackHandle::WeakPtr> &
+std::unordered_set<rclcpp::OnShutdownCallbackHandle::SharedPtr> &
 Context::get_on_shutdown_callbacks()
 {
   return on_shutdown_callbacks_;
diff --git a/rclcpp/src/rclcpp/graph_listener.cpp b/rclcpp/src/rclcpp/graph_listener.cpp
index 0af47acc5b..885d45f103 100644
--- a/rclcpp/src/rclcpp/graph_listener.cpp
+++ b/rclcpp/src/rclcpp/graph_listener.cpp
@@ -57,6 +57,10 @@ GraphListener::GraphListener(const std::shared_ptr<Context> & parent_context)
 
 GraphListener::~GraphListener()
 {
+  auto parent_context = weak_parent_context_.lock();
+  if (parent_context) {
+    parent_context->remove_on_shutdown_callback(shutdown_callback_handle_);
+  }
   this->shutdown(std::nothrow);
 }
 
@@ -90,7 +94,7 @@ GraphListener::start_if_not_started()
     // This is important to ensure that the wait set is finalized before
     // destruction of static objects occurs.
     std::weak_ptr<GraphListener> weak_this = shared_from_this();
-    parent_context->on_shutdown(
+    shutdown_callback_handle_ = parent_context->on_shutdown(
       [weak_this]() {
         auto shared_this = weak_this.lock();
         if (shared_this) {
diff --git a/rclcpp/src/rclcpp/utilities.cpp b/rclcpp/src/rclcpp/utilities.cpp
index 9b467d57f6..f2bcf07d69 100644
--- a/rclcpp/src/rclcpp/utilities.cpp
+++ b/rclcpp/src/rclcpp/utilities.cpp
@@ -20,6 +20,7 @@
 #include <vector>
 
 #include "./signal_handler.hpp"
+#include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/detail/utilities.hpp"
 #include "rclcpp/exceptions.hpp"
@@ -177,14 +178,26 @@ shutdown(Context::SharedPtr context, const std::string & reason)
   return ret;
 }
 
-void
+OnShutdownCallbackHandle::WeakPtr
 on_shutdown(std::function<void()> callback, Context::SharedPtr context)
 {
   using rclcpp::contexts::get_global_default_context;
   if (nullptr == context) {
     context = get_global_default_context();
   }
-  context->on_shutdown(callback);
+  return context->on_shutdown(callback);
+}
+
+void
+remove_on_shutdown(
+  const OnShutdownCallbackHandle::WeakPtr callback_handle,
+  Context::SharedPtr context)
+{
+  using rclcpp::contexts::get_global_default_context;
+  if (nullptr == context) {
+    context = get_global_default_context();
+  }
+  context->remove_on_shutdown_callback(callback_handle);
 }
 
 bool