diff --git a/rclcpp/src/rclcpp/parameter_service.cpp b/rclcpp/src/rclcpp/parameter_service.cpp
index 0cbb9667e4..a766696f64 100644
--- a/rclcpp/src/rclcpp/parameter_service.cpp
+++ b/rclcpp/src/rclcpp/parameter_service.cpp
@@ -41,12 +41,13 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response)
     {
-      for (const auto & name : request->names) {
-        // Default construct param to NOT_SET
-        rclcpp::Parameter param;
-        node_params->get_parameter(name, param);
-        // push back NOT_SET when get_parameter() call fails
-        response->values.push_back(param.get_value_message());
+      try {
+        auto parameters = node_params->get_parameters(request->names);
+        for (const auto param : parameters) {
+          response->values.push_back(param.get_value_message());
+        }
+      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+        RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to get parameters: %s", ex.what());
       }
     },
     qos_profile, nullptr);
@@ -67,7 +68,7 @@ ParameterService::ParameterService(
             return static_cast<rclcpp::ParameterType>(type);
           });
       } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to get parameter types: %s", ex.what());
+        RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to get parameter types: %s", ex.what());
       }
     },
     qos_profile, nullptr);
@@ -88,7 +89,7 @@ ParameterService::ParameterService(
           result = node_params->set_parameters_atomically(
             {rclcpp::Parameter::from_parameter_msg(p)});
         } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-          RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
+          RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
           result.successful = false;
           result.reason = ex.what();
         }
@@ -116,7 +117,7 @@ ParameterService::ParameterService(
         auto result = node_params->set_parameters_atomically(pvariants);
         response->result = result;
       } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_WARN(
+        RCLCPP_DEBUG(
           rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
         response->result.successful = false;
         response->result.reason = "One or more parameters were not declared before setting";
@@ -136,7 +137,7 @@ ParameterService::ParameterService(
         auto descriptors = node_params->describe_parameters(request->names);
         response->descriptors = descriptors;
       } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to describe parameters: %s", ex.what());
+        RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to describe parameters: %s", ex.what());
       }
     },
     qos_profile, nullptr);
diff --git a/rclcpp/test/rclcpp/test_parameter_client.cpp b/rclcpp/test/rclcpp/test_parameter_client.cpp
index ba7cc99c29..c7f8ad6581 100644
--- a/rclcpp/test/rclcpp/test_parameter_client.cpp
+++ b/rclcpp/test/rclcpp/test_parameter_client.cpp
@@ -218,6 +218,30 @@ TEST_F(TestParameterClient, async_parameter_get_parameter_types) {
   ASSERT_TRUE(callback_called);
 }
 
+/*
+  Coverage for async get_parameter_types with allow_undeclared_ enabled
+ */
+TEST_F(TestParameterClient, async_parameter_get_parameter_types_allow_undeclared) {
+  auto asynchronous_client =
+    std::make_shared<rclcpp::AsyncParametersClient>(node_with_option);
+  bool callback_called = false;
+  auto callback = [&callback_called](std::shared_future<std::vector<rclcpp::ParameterType>> result)
+    {
+      if (result.valid() && result.get().size() == 1 &&
+        result.get()[0] == rclcpp::PARAMETER_NOT_SET)
+      {
+        callback_called = true;
+      }
+    };
+  std::vector<std::string> names{"foo"};
+  std::shared_future<std::vector<rclcpp::ParameterType>> future =
+    asynchronous_client->get_parameter_types(names, callback);
+  auto return_code = rclcpp::spin_until_future_complete(
+    node_with_option, future, std::chrono::milliseconds(100));
+  ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
+  ASSERT_TRUE(callback_called);
+}
+
 /*
   Coverage for async get_parameters
  */
@@ -226,7 +250,8 @@ TEST_F(TestParameterClient, async_parameter_get_parameters) {
   bool callback_called = false;
   auto callback = [&callback_called](std::shared_future<std::vector<rclcpp::Parameter>> result)
     {
-      if (result.valid() && result.get().size() == 1 && result.get()[0].get_name() == "foo") {
+      // We expect the result to be empty since we tried to get a parameter that didn't exist.
+      if (result.valid() && result.get().size() == 0) {
         callback_called = true;
       }
     };
@@ -239,6 +264,28 @@ TEST_F(TestParameterClient, async_parameter_get_parameters) {
   ASSERT_TRUE(callback_called);
 }
 
+/*
+  Coverage for async get_parameters with allow_undeclared_ enabled
+ */
+TEST_F(TestParameterClient, async_parameter_get_parameters_allow_undeclared) {
+  auto asynchronous_client =
+    std::make_shared<rclcpp::AsyncParametersClient>(node_with_option);
+  bool callback_called = false;
+  auto callback = [&callback_called](std::shared_future<std::vector<rclcpp::Parameter>> result)
+    {
+      if (result.valid() && result.get().size() == 1 && result.get()[0].get_name() == "foo") {
+        callback_called = true;
+      }
+    };
+  std::vector<std::string> names{"foo"};
+  std::shared_future<std::vector<rclcpp::Parameter>> future = asynchronous_client->get_parameters(
+    names, callback);
+  auto return_code = rclcpp::spin_until_future_complete(
+    node_with_option, future, std::chrono::milliseconds(100));
+  ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
+  ASSERT_TRUE(callback_called);
+}
+
 /*
   Coverage for async set_parameters_atomically
  */
@@ -292,12 +339,197 @@ TEST_F(TestParameterClient, async_parameter_list_parameters) {
  */
 TEST_F(TestParameterClient, sync_parameter_get_parameter_types) {
   node->declare_parameter("foo", 4);
+  node->declare_parameter("bar", "this is bar");
   auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node);
-  std::vector<std::string> names{"foo"};
-  std::vector<rclcpp::ParameterType> parameter_types =
-    synchronous_client->get_parameter_types(names, 10s);
-  ASSERT_EQ(1u, parameter_types.size());
-  ASSERT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, parameter_types[0]);
+
+  {
+    std::vector<std::string> names{"none"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(0u, parameter_types.size());
+  }
+
+  {
+    std::vector<std::string> names{"none", "foo", "bar"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(0u, parameter_types.size());
+  }
+
+  {
+    std::vector<std::string> names{"foo"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(1u, parameter_types.size());
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, parameter_types[0]);
+  }
+
+  {
+    std::vector<std::string> names{"bar"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(1u, parameter_types.size());
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_STRING, parameter_types[0]);
+  }
+
+  {
+    std::vector<std::string> names{"foo", "bar"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(2u, parameter_types.size());
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, parameter_types[0]);
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_STRING, parameter_types[1]);
+  }
+}
+
+/*
+  Coverage for sync get_parameter_types with allow_undeclared_ enabled
+ */
+TEST_F(TestParameterClient, sync_parameter_get_parameter_types_allow_undeclared) {
+  node_with_option->declare_parameter("foo", 4);
+  node_with_option->declare_parameter("bar", "this is bar");
+  auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node_with_option);
+
+  {
+    std::vector<std::string> names{"none"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(1u, parameter_types.size());
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_NOT_SET, parameter_types[0]);
+  }
+
+  {
+    std::vector<std::string> names{"none", "foo", "bar"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(3u, parameter_types.size());
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_NOT_SET, parameter_types[0]);
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, parameter_types[1]);
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_STRING, parameter_types[2]);
+  }
+
+  {
+    std::vector<std::string> names{"foo"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(1u, parameter_types.size());
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, parameter_types[0]);
+  }
+
+  {
+    std::vector<std::string> names{"bar"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(1u, parameter_types.size());
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_STRING, parameter_types[0]);
+  }
+
+  {
+    std::vector<std::string> names{"foo", "bar"};
+    std::vector<rclcpp::ParameterType> parameter_types =
+      synchronous_client->get_parameter_types(names, 10s);
+    ASSERT_EQ(2u, parameter_types.size());
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, parameter_types[0]);
+    ASSERT_EQ(rclcpp::ParameterType::PARAMETER_STRING, parameter_types[1]);
+  }
+}
+
+/*
+  Coverage for sync get_parameters
+ */
+TEST_F(TestParameterClient, sync_parameter_get_parameters) {
+  node->declare_parameter("foo", 4);
+  node->declare_parameter("bar", "this is bar");
+  auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node);
+
+  {
+    std::vector<std::string> names{"none"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(0u, parameters.size());
+  }
+
+  {
+    std::vector<std::string> names{"none", "foo", "bar"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(0u, parameters.size());
+  }
+
+  {
+    std::vector<std::string> names{"foo"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(1u, parameters.size());
+    ASSERT_EQ("foo", parameters[0].get_name());
+    ASSERT_EQ(4u, parameters[0].as_int());
+  }
+
+  {
+    std::vector<std::string> names{"bar"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(1u, parameters.size());
+    ASSERT_EQ("bar", parameters[0].get_name());
+    ASSERT_EQ("this is bar", parameters[0].as_string());
+  }
+
+  {
+    std::vector<std::string> names{"foo", "bar"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(2u, parameters.size());
+    ASSERT_EQ("foo", parameters[0].get_name());
+    ASSERT_EQ(4u, parameters[0].as_int());
+    ASSERT_EQ("bar", parameters[1].get_name());
+    ASSERT_EQ("this is bar", parameters[1].as_string());
+  }
+}
+
+/*
+  Coverage for sync get_parameters with allow_undeclared_ enabled
+ */
+TEST_F(TestParameterClient, sync_parameter_get_parameters_allow_undeclared) {
+  node_with_option->declare_parameter("foo", 4);
+  node_with_option->declare_parameter("bar", "this is bar");
+  auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node_with_option);
+
+  {
+    std::vector<std::string> names{"none"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(1u, parameters.size());
+  }
+
+  {
+    std::vector<std::string> names{"none", "foo", "bar"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(3u, parameters.size());
+    ASSERT_EQ("foo", parameters[1].get_name());
+    ASSERT_EQ(4u, parameters[1].as_int());
+    ASSERT_EQ("bar", parameters[2].get_name());
+    ASSERT_EQ("this is bar", parameters[2].as_string());
+  }
+
+  {
+    std::vector<std::string> names{"foo"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(1u, parameters.size());
+    ASSERT_EQ("foo", parameters[0].get_name());
+    ASSERT_EQ(4u, parameters[0].as_int());
+  }
+
+  {
+    std::vector<std::string> names{"bar"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(1u, parameters.size());
+    ASSERT_EQ("bar", parameters[0].get_name());
+    ASSERT_EQ("this is bar", parameters[0].as_string());
+  }
+
+  {
+    std::vector<std::string> names{"foo", "bar"};
+    std::vector<rclcpp::Parameter> parameters = synchronous_client->get_parameters(names, 10s);
+    ASSERT_EQ(2u, parameters.size());
+    ASSERT_EQ("foo", parameters[0].get_name());
+    ASSERT_EQ(4u, parameters[0].as_int());
+    ASSERT_EQ("bar", parameters[1].get_name());
+    ASSERT_EQ("this is bar", parameters[1].as_string());
+  }
 }
 
 /*