diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
index f4957824a5..b122e96575 100644
--- a/rclcpp/include/rclcpp/subscription_base.hpp
+++ b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -260,13 +260,13 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   bool
   is_serialized() const;
 
-  /// Return the type of the subscription.
+  /// Return the delivered message kind.
   /**
    * \return `DeliveredMessageKind`, which adjusts how messages are received and delivered.
    */
   RCLCPP_PUBLIC
   DeliveredMessageKind
-  get_subscription_type() const;
+  get_delivered_message_kind() const;
 
   /// Get matching publisher count.
   /** \return The number of publishers on this topic. */
@@ -663,7 +663,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   RCLCPP_DISABLE_COPY(SubscriptionBase)
 
   rosidl_message_type_support_t type_support_;
-  DeliveredMessageKind delivered_message_type_;
+  DeliveredMessageKind delivered_message_kind_;
 
   std::atomic<bool> subscription_in_use_by_wait_set_{false};
   std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index a7a2b8278b..50529a102a 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -603,7 +603,7 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
   rclcpp::MessageInfo message_info;
   message_info.get_rmw_message_info().from_intra_process = false;
 
-  switch (subscription->get_subscription_type()) {
+  switch (subscription->get_delivered_message_kind()) {
     // Deliver ROS message
     case rclcpp::DeliveredMessageKind::ROS_MESSAGE:
       {
diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
index 18ccab0eb0..6db3bf5ceb 100644
--- a/rclcpp/src/rclcpp/subscription_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -52,7 +52,7 @@ SubscriptionBase::SubscriptionBase(
   intra_process_subscription_id_(0),
   event_callbacks_(event_callbacks),
   type_support_(type_support_handle),
-  delivered_message_type_(delivered_message_kind)
+  delivered_message_kind_(delivered_message_kind)
 {
   auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
     {
@@ -261,13 +261,13 @@ SubscriptionBase::get_message_type_support_handle() const
 bool
 SubscriptionBase::is_serialized() const
 {
-  return delivered_message_type_ == rclcpp::DeliveredMessageKind::SERIALIZED_MESSAGE;
+  return delivered_message_kind_ == rclcpp::DeliveredMessageKind::SERIALIZED_MESSAGE;
 }
 
 rclcpp::DeliveredMessageKind
-SubscriptionBase::get_subscription_type() const
+SubscriptionBase::get_delivered_message_kind() const
 {
-  return delivered_message_type_;
+  return delivered_message_kind_;
 }
 
 size_t