diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
index 694e92355e..6b58e365dc 100644
--- a/hardware_interface/src/actuator.cpp
+++ b/hardware_interface/src/actuator.cpp
@@ -218,7 +218,12 @@ const rclcpp_lifecycle::State & Actuator::get_state() const { return impl_->get_
 
 return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  // TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  {
+    return return_type::OK;
+  }
   return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
@@ -235,7 +240,12 @@ return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & p
 
 return_type Actuator::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  // TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  {
+    return return_type::OK;
+  }
   return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
index ade9b8781a..2e53e447b9 100644
--- a/hardware_interface/src/sensor.cpp
+++ b/hardware_interface/src/sensor.cpp
@@ -195,7 +195,12 @@ const rclcpp_lifecycle::State & Sensor::get_state() const { return impl_->get_st
 
 return_type Sensor::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  // TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  {
+    return return_type::OK;
+  }
   return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
index f8703a47bc..ee942d6581 100644
--- a/hardware_interface/src/system.cpp
+++ b/hardware_interface/src/system.cpp
@@ -214,7 +214,12 @@ const rclcpp_lifecycle::State & System::get_state() const { return impl_->get_st
 
 return_type System::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  // TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  {
+    return return_type::OK;
+  }
   return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
@@ -231,7 +236,12 @@ return_type System::read(const rclcpp::Time & time, const rclcpp::Duration & per
 
 return_type System::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  // TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  {
+    return return_type::OK;
+  }
   return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
index 128771058b..d90756c324 100644
--- a/hardware_interface/test/test_component_interfaces.cpp
+++ b/hardware_interface/test/test_component_interfaces.cpp
@@ -446,17 +446,17 @@ TEST(TestComponentInterfaces, dummy_actuator)
 
   double velocity_value = 1.0;
   command_interfaces[0].set_value(velocity_value);  // velocity
-  ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
+  ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
 
   // Noting should change because it is UNCONFIGURED
   for (auto step = 0u; step < 10; ++step)
   {
-    ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD));
 
     ASSERT_TRUE(std::isnan(state_interfaces[0].get_value()));  // position value
     ASSERT_TRUE(std::isnan(state_interfaces[1].get_value()));  // velocity
 
-    ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
   }
 
   state = actuator_hw.configure();
@@ -496,12 +496,12 @@ TEST(TestComponentInterfaces, dummy_actuator)
   // Noting should change because it is FINALIZED
   for (auto step = 0u; step < 10; ++step)
   {
-    ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD));
 
     EXPECT_EQ(20 * velocity_value, state_interfaces[0].get_value());  // position value
     EXPECT_EQ(0, state_interfaces[1].get_value());                    // velocity
 
-    ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
   }
 
   EXPECT_EQ(
@@ -587,12 +587,12 @@ TEST(TestComponentInterfaces, dummy_system)
   command_interfaces[0].set_value(velocity_value);  // velocity
   command_interfaces[1].set_value(velocity_value);  // velocity
   command_interfaces[2].set_value(velocity_value);  // velocity
-  ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD));
+  ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD));
 
   // Noting should change because it is UNCONFIGURED
   for (auto step = 0u; step < 10; ++step)
   {
-    ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.read(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD));
 
     ASSERT_TRUE(std::isnan(state_interfaces[0].get_value()));  // position value
     ASSERT_TRUE(std::isnan(state_interfaces[1].get_value()));  // velocity
@@ -601,7 +601,7 @@ TEST(TestComponentInterfaces, dummy_system)
     ASSERT_TRUE(std::isnan(state_interfaces[4].get_value()));  // position value
     ASSERT_TRUE(std::isnan(state_interfaces[5].get_value()));  // velocity
 
-    ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD));
   }
 
   state = system_hw.configure();
@@ -649,7 +649,7 @@ TEST(TestComponentInterfaces, dummy_system)
   // Noting should change because it is FINALIZED
   for (auto step = 0u; step < 10; ++step)
   {
-    ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.read(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD));
 
     EXPECT_EQ(20 * velocity_value, state_interfaces[0].get_value());  // position value
     EXPECT_EQ(0.0, state_interfaces[1].get_value());                  // velocity
@@ -658,7 +658,7 @@ TEST(TestComponentInterfaces, dummy_system)
     EXPECT_EQ(20 * velocity_value, state_interfaces[4].get_value());  // position value
     EXPECT_EQ(0.0, state_interfaces[5].get_value());                  // velocity
 
-    ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD));
   }
 
   EXPECT_EQ(hardware_interface::return_type::OK, system_hw.prepare_command_mode_switch({}, {}));
@@ -841,6 +841,12 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
+  // Noting should change because it is UNCONFIGURED
+  for (auto step = 0u; step < 10; ++step)
+  {
+    ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD));
+  }
+
   // activate again and expect reset values
   state = sensor_hw.configure();
   EXPECT_EQ(state_interfaces[0].get_value(), 0.0);
@@ -860,6 +866,12 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label());
 
+  // Noting should change because it is FINALIZED
+  for (auto step = 0u; step < 10; ++step)
+  {
+    ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD));
+  }
+
   // can not change state anymore
   state = sensor_hw.configure();
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id());