diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
index cf0fcb4e..7bfe4c16 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -471,6 +471,7 @@ rmw_ret_t ClientData::send_request(
   opts.value.payload = z_bytes_t{data_length, reinterpret_cast<const uint8_t *>(request_bytes)};
   // TODO(Yadunund): Once we switch to zenoh-cpp with lambda closures,
   // capture shared_from_this() instead of this.
+  num_in_flight_++;
   z_owned_closure_reply_t zn_closure_reply =
     z_closure(client_data_handler, client_data_drop, this);
   z_get(
@@ -563,7 +564,7 @@ bool ClientData::shutdown_and_query_in_flight()
 ///=============================================================================
 void ClientData::decrement_in_flight_and_conditionally_remove()
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::unique_lock<std::recursive_mutex> lock(mutex_);
   --num_in_flight_;
 
   if (is_shutdown_ && num_in_flight_ == 0) {
@@ -575,6 +576,8 @@ void ClientData::decrement_in_flight_and_conditionally_remove()
     if (node_data == nullptr) {
       return;
     }
+    // We have to unlock here since we are about to delete ourself, and thus the unlock would be UB.
+    lock.unlock();
     node_data->delete_client_data(rmw_client_);
   }
 }
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
index bd3f3f6e..e05fb3e7 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -115,7 +115,7 @@ NodeData::~NodeData()
 ///=============================================================================
 std::size_t NodeData::id() const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
   return id_;
 }
 
@@ -128,7 +128,7 @@ bool NodeData::create_pub_data(
   const rosidl_message_type_support_t * type_support,
   const rmw_qos_profile_t * qos_profile)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   if (is_shutdown_) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
@@ -169,7 +169,7 @@ bool NodeData::create_pub_data(
 ///=============================================================================
 PublisherDataPtr NodeData::get_pub_data(const rmw_publisher_t * const publisher)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   auto it = pubs_.find(publisher);
   if (it == pubs_.end()) {
     return nullptr;
@@ -181,7 +181,7 @@ PublisherDataPtr NodeData::get_pub_data(const rmw_publisher_t * const publisher)
 ///=============================================================================
 void NodeData::delete_pub_data(const rmw_publisher_t * const publisher)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   pubs_.erase(publisher);
 }
 
@@ -195,7 +195,7 @@ bool NodeData::create_sub_data(
   const rosidl_message_type_support_t * type_support,
   const rmw_qos_profile_t * qos_profile)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   if (is_shutdown_) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
@@ -237,7 +237,7 @@ bool NodeData::create_sub_data(
 ///=============================================================================
 SubscriptionDataPtr NodeData::get_sub_data(const rmw_subscription_t * const subscription)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   auto it = subs_.find(subscription);
   if (it == subs_.end()) {
     return nullptr;
@@ -249,7 +249,7 @@ SubscriptionDataPtr NodeData::get_sub_data(const rmw_subscription_t * const subs
 ///=============================================================================
 void NodeData::delete_sub_data(const rmw_subscription_t * const subscription)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   subs_.erase(subscription);
 }
 
@@ -262,7 +262,7 @@ bool NodeData::create_service_data(
   const rosidl_service_type_support_t * type_supports,
   const rmw_qos_profile_t * qos_profile)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   if (is_shutdown_) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
@@ -303,7 +303,7 @@ bool NodeData::create_service_data(
 ///=============================================================================
 ServiceDataPtr NodeData::get_service_data(const rmw_service_t * const service)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   auto it = services_.find(service);
   if (it == services_.end()) {
     return nullptr;
@@ -315,7 +315,7 @@ ServiceDataPtr NodeData::get_service_data(const rmw_service_t * const service)
 ///=============================================================================
 void NodeData::delete_service_data(const rmw_service_t * const service)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   services_.erase(service);
 }
 
@@ -329,7 +329,7 @@ bool NodeData::create_client_data(
   const rosidl_service_type_support_t * type_supports,
   const rmw_qos_profile_t * qos_profile)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   if (is_shutdown_) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
@@ -371,7 +371,7 @@ bool NodeData::create_client_data(
 ///=============================================================================
 ClientDataPtr NodeData::get_client_data(const rmw_client_t * const client)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   auto it = clients_.find(client);
   if (it == clients_.end()) {
     return nullptr;
@@ -383,7 +383,7 @@ ClientDataPtr NodeData::get_client_data(const rmw_client_t * const client)
 ///=============================================================================
 void NodeData::delete_client_data(const rmw_client_t * const client)
 {
-  std::lock_guard<std::mutex> lock_guard(mutex_);
+  std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   auto client_it = clients_.find(client);
   if (client_it == clients_.end()) {
     return;
@@ -396,7 +396,7 @@ void NodeData::delete_client_data(const rmw_client_t * const client)
 ///=============================================================================
 rmw_ret_t NodeData::shutdown()
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
   rmw_ret_t ret = RMW_RET_OK;
   if (is_shutdown_) {
     return ret;
@@ -463,7 +463,7 @@ rmw_ret_t NodeData::shutdown()
 // Check if the Node is shutdown.
 bool NodeData::is_shutdown() const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
   return is_shutdown_;
 }
 
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
index f85b1366..5489e4b7 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
@@ -130,7 +130,7 @@ class NodeData final
     std::shared_ptr<liveliness::Entity> entity,
     zc_owned_liveliness_token_t token);
   // Internal mutex.
-  mutable std::mutex mutex_;
+  mutable std::recursive_mutex mutex_;
   // The rmw_node_t associated with this NodeData.
   const rmw_node_t * node_;
   // The entity id of this node as generated by get_next_entity_id().