diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
index 2993f28bc3..40a326702a 100644
--- a/rclcpp_action/include/rclcpp_action/client.hpp
+++ b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -62,6 +62,8 @@ class ClientBaseImpl;
 class ClientBase : public rclcpp::Waitable
 {
 public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase)
+
   RCLCPP_ACTION_PUBLIC
   virtual ~ClientBase();
 
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index dc64991c46..a885383614 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -72,6 +72,8 @@ enum class CancelResponse : int8_t
 class ServerBase : public rclcpp::Waitable
 {
 public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServerBase)
+
   /// Enum to identify entities belonging to the action server
   enum class EntityType : std::size_t
   {