diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 400d6a265d..cff06c3be9 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -203,20 +203,20 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC
-  ${builtin_interfaces_TARGETS}
+  builtin_interfaces::builtin_interfaces
   libstatistics_collector::libstatistics_collector
   rcl::rcl
-  ${rcl_interfaces_TARGETS}
+  rcl_interfaces::rcl_interfaces
   rcl_yaml_param_parser::rcl_yaml_param_parser
   rcpputils::rcpputils
   rcutils::rcutils
   rmw::rmw
-  ${rosgraph_msgs_TARGETS}
+  rosgraph_msgs::rosgraph_msgs
   rosidl_dynamic_typesupport::rosidl_dynamic_typesupport
   rosidl_runtime_c::rosidl_runtime_c
   rosidl_runtime_cpp::rosidl_runtime_cpp
   rosidl_typesupport_cpp::rosidl_typesupport_cpp
-  ${statistics_msgs_TARGETS}
+  statistics_msgs::statistics_msgs
   tracetools::tracetools
   ${CMAKE_THREAD_LIBS_INIT}
 )
diff --git a/rclcpp/test/benchmark/CMakeLists.txt b/rclcpp/test/benchmark/CMakeLists.txt
index 6b93711df2..c981483112 100644
--- a/rclcpp/test/benchmark/CMakeLists.txt
+++ b/rclcpp/test/benchmark/CMakeLists.txt
@@ -7,12 +7,12 @@ find_package(performance_test_fixture REQUIRED)
 
 add_performance_test(benchmark_client benchmark_client.cpp)
 if(TARGET benchmark_client)
-  target_link_libraries(benchmark_client ${PROJECT_NAME} ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
+  target_link_libraries(benchmark_client ${PROJECT_NAME} rcl_interfaces::rcl_interfaces test_msgs::test_msgs)
 endif()
 
 add_performance_test(benchmark_executor benchmark_executor.cpp)
 if(TARGET benchmark_executor)
-  target_link_libraries(benchmark_executor ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(benchmark_executor ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 add_performance_test(benchmark_init_shutdown benchmark_init_shutdown.cpp)
@@ -37,5 +37,5 @@ endif()
 
 add_performance_test(benchmark_service benchmark_service.cpp)
 if(TARGET benchmark_service)
-  target_link_libraries(benchmark_service ${PROJECT_NAME} ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
+  target_link_libraries(benchmark_service ${PROJECT_NAME} rcl_interfaces::rcl_interfaces test_msgs::test_msgs)
 endif()
diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
index 5c6469ec69..fe430eff0c 100644
--- a/rclcpp/test/rclcpp/CMakeLists.txt
+++ b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -38,29 +38,29 @@ endif()
 
 ament_add_ros_isolated_gtest(test_allocator_memory_strategy strategies/test_allocator_memory_strategy.cpp)
 if(TARGET test_allocator_memory_strategy)
-  target_link_libraries(test_allocator_memory_strategy ${PROJECT_NAME} rcpputils::rcpputils ${test_msgs_TARGETS})
+  target_link_libraries(test_allocator_memory_strategy ${PROJECT_NAME} rcpputils::rcpputils test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_message_pool_memory_strategy strategies/test_message_pool_memory_strategy.cpp)
 if(TARGET test_message_pool_memory_strategy)
-  target_link_libraries(test_message_pool_memory_strategy ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_message_pool_memory_strategy ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_any_service_callback test_any_service_callback.cpp)
 if(TARGET test_any_service_callback)
-  target_link_libraries(test_any_service_callback ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_any_service_callback ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_any_subscription_callback test_any_subscription_callback.cpp)
 if(TARGET test_any_subscription_callback)
-  target_link_libraries(test_any_subscription_callback ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_any_subscription_callback ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_client test_client.cpp)
 ament_add_test_label(test_client mimick)
 if(TARGET test_client)
-  target_link_libraries(test_client ${PROJECT_NAME} mimick ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
+  target_link_libraries(test_client ${PROJECT_NAME} mimick rcl_interfaces::rcl_interfaces test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_clock_conditional test_clock_conditional.cpp)
 ament_add_test_label(test_clock_conditional mimick)
 if(TARGET test_clock_conditional)
-  target_link_libraries(test_clock_conditional ${PROJECT_NAME} mimick ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
+  target_link_libraries(test_clock_conditional ${PROJECT_NAME} mimick rcl_interfaces::rcl_interfaces test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_copy_all_parameter_values test_copy_all_parameter_values.cpp)
 if(TARGET test_copy_all_parameter_values)
@@ -76,11 +76,11 @@ ament_add_test_label(test_generic_client mimick)
 if(TARGET test_generic_client)
   target_link_libraries(test_generic_client ${PROJECT_NAME}
     mimick
-    ${rcl_interfaces_TARGETS}
+    rcl_interfaces::rcl_interfaces
     rmw::rmw
     rosidl_runtime_cpp::rosidl_runtime_cpp
     rosidl_typesupport_cpp::rosidl_typesupport_cpp
-    ${test_msgs_TARGETS}
+    test_msgs::test_msgs
   )
 endif()
 ament_add_ros_isolated_gtest(test_generic_service test_generic_service.cpp)
@@ -88,11 +88,11 @@ ament_add_test_label(test_generic_service mimick)
 if(TARGET test_generic_service)
   target_link_libraries(test_generic_service ${PROJECT_NAME}
     mimick
-    ${rcl_interfaces_TARGETS}
+    rcl_interfaces::rcl_interfaces
     rmw::rmw
     rosidl_runtime_cpp::rosidl_runtime_cpp
     rosidl_typesupport_cpp::rosidl_typesupport_cpp
-    ${test_msgs_TARGETS}
+    test_msgs::test_msgs
   )
 endif()
 ament_add_ros_isolated_gtest(test_client_common test_client_common.cpp)
@@ -100,16 +100,16 @@ ament_add_test_label(test_client_common mimick)
 if(TARGET test_client_common)
   target_link_libraries(test_client_common ${PROJECT_NAME}
     mimick
-    ${rcl_interfaces_TARGETS}
+    rcl_interfaces::rcl_interfaces
     rmw::rmw
     rosidl_runtime_cpp::rosidl_runtime_cpp
     rosidl_typesupport_cpp::rosidl_typesupport_cpp
-    ${test_msgs_TARGETS}
+    test_msgs::test_msgs
   )
 endif()
 ament_add_ros_isolated_gtest(test_create_subscription test_create_subscription.cpp)
 if(TARGET test_create_subscription)
-  target_link_libraries(test_create_subscription ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_create_subscription ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_expand_topic_or_service_name test_expand_topic_or_service_name.cpp)
 ament_add_test_label(test_expand_topic_or_service_name mimick)
@@ -128,11 +128,11 @@ if(TARGET test_future_return_code)
 endif()
 ament_add_ros_isolated_gmock(test_intra_process_manager test_intra_process_manager.cpp)
 if(TARGET test_intra_process_manager)
-  target_link_libraries(test_intra_process_manager ${PROJECT_NAME} ${rcl_interfaces_TARGETS} rmw::rmw)
+  target_link_libraries(test_intra_process_manager ${PROJECT_NAME} rcl_interfaces::rcl_interfaces rmw::rmw)
 endif()
 ament_add_ros_isolated_gmock(test_intra_process_manager_with_allocators test_intra_process_manager_with_allocators.cpp)
 if(TARGET test_intra_process_manager_with_allocators)
-  target_link_libraries(test_intra_process_manager_with_allocators ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_intra_process_manager_with_allocators ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_ring_buffer_implementation test_ring_buffer_implementation.cpp)
 if(TARGET test_ring_buffer_implementation)
@@ -145,18 +145,18 @@ endif()
 
 ament_add_ros_isolated_gtest(test_loaned_message test_loaned_message.cpp)
 ament_add_test_label(test_loaned_message mimick)
-target_link_libraries(test_loaned_message ${PROJECT_NAME} mimick ${test_msgs_TARGETS})
+target_link_libraries(test_loaned_message ${PROJECT_NAME} mimick test_msgs::test_msgs)
 
 ament_add_ros_isolated_gtest(test_memory_strategy test_memory_strategy.cpp)
-target_link_libraries(test_memory_strategy ${PROJECT_NAME} ${test_msgs_TARGETS})
+target_link_libraries(test_memory_strategy ${PROJECT_NAME} test_msgs::test_msgs)
 
 ament_add_ros_isolated_gtest(test_message_memory_strategy test_message_memory_strategy.cpp)
-target_link_libraries(test_message_memory_strategy ${PROJECT_NAME} ${test_msgs_TARGETS})
+target_link_libraries(test_message_memory_strategy ${PROJECT_NAME} test_msgs::test_msgs)
 
 ament_add_ros_isolated_gtest(test_node test_node.cpp TIMEOUT 240)
 ament_add_test_label(test_node mimick)
 if(TARGET test_node)
-  target_link_libraries(test_node ${PROJECT_NAME} mimick rcpputils::rcpputils rmw::rmw ${test_msgs_TARGETS})
+  target_link_libraries(test_node ${PROJECT_NAME} mimick rcpputils::rcpputils rmw::rmw test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_node_interfaces__get_node_interfaces
@@ -180,7 +180,7 @@ ament_add_ros_isolated_gtest(test_node_interfaces__node_graph
   TIMEOUT 120)
 ament_add_test_label(test_node_interfaces__node_graph mimick)
 if(TARGET test_node_interfaces__node_graph)
-  target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME} mimick rcl::rcl ${test_msgs_TARGETS})
+  target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME} mimick rcl::rcl test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_node_interfaces__node_interfaces
   node_interfaces/test_node_interfaces.cpp)
@@ -191,7 +191,7 @@ ament_add_ros_isolated_gtest(test_node_interfaces__node_parameters
   node_interfaces/test_node_parameters.cpp)
 ament_add_test_label(test_node_interfaces__node_parameters mimick)
 if(TARGET test_node_interfaces__node_parameters)
-  target_link_libraries(test_node_interfaces__node_parameters ${PROJECT_NAME} mimick rcpputils::rcpputils ${test_msgs_TARGETS})
+  target_link_libraries(test_node_interfaces__node_parameters ${PROJECT_NAME} mimick rcpputils::rcpputils test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_node_interfaces__node_services
   node_interfaces/test_node_services.cpp)
@@ -209,7 +209,7 @@ ament_add_ros_isolated_gtest(test_node_interfaces__node_topics
   node_interfaces/test_node_topics.cpp)
 ament_add_test_label(test_node_interfaces__node_topics mimick)
 if(TARGET test_node_interfaces__node_topics)
-  target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME} mimick rcl::rcl ${test_msgs_TARGETS})
+  target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME} mimick rcl::rcl test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_node_interfaces__node_type_descriptions
   node_interfaces/test_node_type_descriptions.cpp)
@@ -265,7 +265,7 @@ if(TARGET test_init_options)
 endif()
 ament_add_ros_isolated_gmock(test_parameter_client test_parameter_client.cpp)
 if(TARGET test_parameter_client)
-  target_link_libraries(test_parameter_client ${PROJECT_NAME} ${rcl_interfaces_TARGETS})
+  target_link_libraries(test_parameter_client ${PROJECT_NAME} rcl_interfaces::rcl_interfaces)
 endif()
 ament_add_ros_isolated_gtest(test_parameter_service test_parameter_service.cpp)
 if(TARGET test_parameter_service)
@@ -273,7 +273,7 @@ if(TARGET test_parameter_service)
 endif()
 ament_add_ros_isolated_gtest(test_parameter_events_filter test_parameter_events_filter.cpp)
 if(TARGET test_parameter_events_filter)
-  target_link_libraries(test_parameter_events_filter ${PROJECT_NAME} ${rcl_interfaces_TARGETS})
+  target_link_libraries(test_parameter_events_filter ${PROJECT_NAME} rcl_interfaces::rcl_interfaces)
 endif()
 ament_add_ros_isolated_gtest(test_parameter test_parameter.cpp)
 if(TARGET test_parameter)
@@ -290,7 +290,7 @@ endif()
 ament_add_ros_isolated_gtest(test_publisher test_publisher.cpp TIMEOUT 120)
 ament_add_test_label(test_publisher mimick)
 if(TARGET test_publisher)
-  target_link_libraries(test_publisher ${PROJECT_NAME} mimick rcl::rcl rcutils::rcutils ${test_msgs_TARGETS})
+  target_link_libraries(test_publisher ${PROJECT_NAME} mimick rcl::rcl rcutils::rcutils test_msgs::test_msgs)
 endif()
 
 set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
@@ -323,13 +323,13 @@ if(TARGET test_subscription_publisher_with_same_type_adapter)
   target_link_libraries(test_subscription_publisher_with_same_type_adapter
     ${PROJECT_NAME}
     ${cpp_typesupport_target}
-    ${statistics_msgs_TARGETS}
+    statistics_msgs::statistics_msgs
   )
 endif()
 
 ament_add_ros_isolated_gtest(test_publisher_subscription_count_api test_publisher_subscription_count_api.cpp)
 if(TARGET test_publisher_subscription_count_api)
-  target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_qos test_qos.cpp)
 if(TARGET test_qos)
@@ -353,39 +353,39 @@ if(TARGET test_rate)
 endif()
 ament_add_ros_isolated_gtest(test_serialized_message_allocator test_serialized_message_allocator.cpp)
 if(TARGET test_serialized_message_allocator)
-  target_link_libraries(test_serialized_message_allocator ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
+  target_link_libraries(test_serialized_message_allocator ${PROJECT_NAME} rcl::rcl test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_serialized_message test_serialized_message.cpp)
 if(TARGET test_serialized_message)
-  target_link_libraries(test_serialized_message ${PROJECT_NAME} rcpputils::rcpputils ${test_msgs_TARGETS})
+  target_link_libraries(test_serialized_message ${PROJECT_NAME} rcpputils::rcpputils test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_service test_service.cpp)
 ament_add_test_label(test_service mimick)
 if(TARGET test_service)
-  target_link_libraries(test_service ${PROJECT_NAME} mimick ${rcl_interfaces_TARGES} ${test_msgs_TARGETS})
+  target_link_libraries(test_service ${PROJECT_NAME} mimick ${rcl_interfaces_TARGES} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gmock(test_service_introspection test_service_introspection.cpp)
 ament_add_test_label(test_service_introspection mimick)
 if(TARGET test_service_introspection)
-  target_link_libraries(test_service_introspection ${PROJECT_NAME} mimick ${service_msgs_TARGETS} ${test_msgs_TARGETS})
+  target_link_libraries(test_service_introspection ${PROJECT_NAME} mimick service_msgs::service_msgs test_msgs::test_msgs)
 endif()
 # Creating and destroying nodes is slow with Connext, so this needs larger timeout.
 ament_add_ros_isolated_gtest(test_subscription test_subscription.cpp TIMEOUT 120)
 ament_add_test_label(test_subscription mimick)
 if(TARGET test_subscription)
-  target_link_libraries(test_subscription ${PROJECT_NAME} mimick ${test_msgs_TARGETS})
+  target_link_libraries(test_subscription ${PROJECT_NAME} mimick test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_subscription_publisher_count_api test_subscription_publisher_count_api.cpp)
 if(TARGET test_subscription_publisher_count_api)
-  target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_subscription_traits test_subscription_traits.cpp)
 if(TARGET test_subscription_traits)
-  target_link_libraries(test_subscription_traits ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
+  target_link_libraries(test_subscription_traits ${PROJECT_NAME} rcl::rcl test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gtest(test_type_support test_type_support.cpp)
 if(TARGET test_type_support)
-  target_link_libraries(test_type_support ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_type_support ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 ament_add_ros_isolated_gmock(test_typesupport_helpers test_typesupport_helpers.cpp)
 if(TARGET test_typesupport_helpers)
@@ -397,7 +397,7 @@ if(TARGET test_find_weak_nodes)
 endif()
 
 ament_add_ros_isolated_gtest(test_externally_defined_services test_externally_defined_services.cpp)
-target_link_libraries(test_externally_defined_services ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
+target_link_libraries(test_externally_defined_services ${PROJECT_NAME} rcl::rcl test_msgs::test_msgs)
 
 ament_add_ros_isolated_gtest(test_duration test_duration.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
@@ -448,12 +448,12 @@ endif()
 
 ament_add_ros_isolated_gtest(test_wait_for_message test_wait_for_message.cpp)
 if(TARGET test_wait_for_message)
-  target_link_libraries(test_wait_for_message ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_wait_for_message ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_logger_service test_logger_service.cpp)
 if(TARGET test_logger_service)
-  target_link_libraries(test_logger_service ${PROJECT_NAME} ${rcl_interfaces_TARGETS})
+  target_link_libraries(test_logger_service ${PROJECT_NAME} rcl_interfaces::rcl_interfaces)
 endif()
 
 ament_add_ros_isolated_gtest(test_interface_traits test_interface_traits.cpp
@@ -479,7 +479,7 @@ if(CMAKE_BUILD_TYPE STREQUAL "Debug" AND MSVC)
   target_compile_options(test_executors PRIVATE "/bigobj")
 endif()
 if(TARGET test_executors)
-  target_link_libraries(test_executors ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
+  target_link_libraries(test_executors ${PROJECT_NAME} rcl::rcl test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(
@@ -488,7 +488,7 @@ ament_add_ros_isolated_gtest(
   APPEND_LIBRARY_DIRS "${append_library_dirs}"
   TIMEOUT 180)
 if(TARGET test_executors_timer_cancel_behavior)
-  target_link_libraries(test_executors_timer_cancel_behavior ${PROJECT_NAME} ${rosgraph_msgs_TARGETS})
+  target_link_libraries(test_executors_timer_cancel_behavior ${PROJECT_NAME} rosgraph_msgs::rosgraph_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(
@@ -506,7 +506,7 @@ ament_add_ros_isolated_gtest(
   APPEND_LIBRARY_DIRS "${append_library_dirs}"
   TIMEOUT 180)
 if(TARGET test_executors_intraprocess)
-  target_link_libraries(test_executors_intraprocess ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_executors_intraprocess ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(
@@ -526,7 +526,7 @@ ament_add_ros_isolated_gtest(
   APPEND_LIBRARY_DIRS "${append_library_dirs}"
   TIMEOUT 180)
 if(TARGET test_executors_warmup)
-  target_link_libraries(test_executors_warmup ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_executors_warmup ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_multi_threaded_executor executors/test_multi_threaded_executor.cpp
@@ -550,7 +550,7 @@ endif()
 
 ament_add_ros_isolated_gtest(test_events_executor executors/test_events_executor.cpp TIMEOUT 60)
 if(TARGET test_events_executor)
-  target_link_libraries(test_events_executor ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_events_executor ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_events_queue executors/test_events_queue.cpp
@@ -569,7 +569,7 @@ endif()
 ament_add_ros_isolated_gtest(test_wait_set test_wait_set.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_wait_set)
-  target_link_libraries(test_wait_set ${PROJECT_NAME} ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
+  target_link_libraries(test_wait_set ${PROJECT_NAME} rcl_interfaces::rcl_interfaces test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_subscription_topic_statistics topic_statistics/test_subscription_topic_statistics.cpp
@@ -579,8 +579,8 @@ if(TARGET test_subscription_topic_statistics)
   target_link_libraries(test_subscription_topic_statistics
     ${PROJECT_NAME}
     libstatistics_collector::libstatistics_collector
-    ${statistics_msgs_TARGETS}
-    ${test_msgs_TARGETS}
+    statistics_msgs::statistics_msgs
+    test_msgs::test_msgs
   )
 endif()
 
@@ -591,28 +591,28 @@ endif()
 
 ament_add_ros_isolated_gtest(test_dynamic_storage wait_set_policies/test_dynamic_storage.cpp)
 if(TARGET test_dynamic_storage)
-  target_link_libraries(test_dynamic_storage ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_dynamic_storage ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_storage_policy_common wait_set_policies/test_storage_policy_common.cpp)
 ament_add_test_label(test_storage_policy_common mimick)
 if(TARGET test_storage_policy_common)
-  target_link_libraries(test_storage_policy_common ${PROJECT_NAME} mimick ${test_msgs_TARGETS})
+  target_link_libraries(test_storage_policy_common ${PROJECT_NAME} mimick test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_static_storage wait_set_policies/test_static_storage.cpp)
 if(TARGET test_static_storage)
-  target_link_libraries(test_static_storage ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_static_storage ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_thread_safe_synchronization wait_set_policies/test_thread_safe_synchronization.cpp)
 if(TARGET test_thread_safe_synchronization)
-  target_link_libraries(test_thread_safe_synchronization ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_thread_safe_synchronization ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_intra_process_waitable waitables/test_intra_process_waitable.cpp)
 if(TARGET test_intra_process_waitable)
-  target_link_libraries(test_intra_process_waitable ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_intra_process_waitable ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_rosout_qos test_rosout_qos.cpp)
@@ -622,7 +622,7 @@ endif()
 
 ament_add_ros_isolated_gtest(test_rosout_subscription test_rosout_subscription.cpp)
 if(TARGET test_rosout_subscription)
-  target_link_libraries(test_rosout_subscription ${PROJECT_NAME} ${rcl_interfaces_TARGETS})
+  target_link_libraries(test_rosout_subscription ${PROJECT_NAME} rcl_interfaces::rcl_interfaces)
 endif()
 
 ament_add_ros_isolated_gtest(test_executor test_executor.cpp
@@ -630,7 +630,7 @@ ament_add_ros_isolated_gtest(test_executor test_executor.cpp
   TIMEOUT 120)
 ament_add_test_label(test_executor mimick)
 if(TARGET test_executor)
-  target_link_libraries(test_executor ${PROJECT_NAME} mimick ${test_msgs_TARGETS})
+  target_link_libraries(test_executor ${PROJECT_NAME} mimick test_msgs::test_msgs)
 endif()
 
 ament_add_ros_isolated_gtest(test_graph_listener test_graph_listener.cpp)
@@ -641,22 +641,22 @@ endif()
 
 ament_add_gmock_executable(test_qos_event test_qos_event.cpp)
 if(TARGET test_qos_event)
-  target_link_libraries(test_qos_event ${PROJECT_NAME} mimick rcutils::rcutils rmw::rmw ${test_msgs_TARGETS})
+  target_link_libraries(test_qos_event ${PROJECT_NAME} mimick rcutils::rcutils rmw::rmw test_msgs::test_msgs)
 endif()
 
 ament_add_gmock_executable(test_generic_pubsub test_generic_pubsub.cpp)
 if(TARGET test_generic_pubsub)
-  target_link_libraries(test_generic_pubsub ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
+  target_link_libraries(test_generic_pubsub ${PROJECT_NAME} rcl::rcl test_msgs::test_msgs)
 endif()
 
 ament_add_gmock_executable(test_add_callback_groups_to_executor test_add_callback_groups_to_executor.cpp)
 if(TARGET test_add_callback_groups_to_executor)
-  target_link_libraries(test_add_callback_groups_to_executor ${PROJECT_NAME} ${test_msgs_TARGETS})
+  target_link_libraries(test_add_callback_groups_to_executor ${PROJECT_NAME} test_msgs::test_msgs)
 endif()
 
 ament_add_gmock_executable(test_subscription_content_filter test_subscription_content_filter.cpp)
 if(TARGET test_subscription_content_filter)
-  target_link_libraries(test_subscription_content_filter ${PROJECT_NAME} mimick ${test_msgs_TARGETS})
+  target_link_libraries(test_subscription_content_filter ${PROJECT_NAME} mimick test_msgs::test_msgs)
 endif()
 
 function(test_on_all_rmws)
diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index c108228e7c..d07031d5f4 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -37,7 +37,7 @@ target_include_directories(${PROJECT_NAME}
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC
-  ${action_msgs_TARGETS}
+  action_msgs::action_msgs
   rcl::rcl
   rcl_action::rcl_action
   rclcpp::rclcpp
@@ -92,7 +92,7 @@ if(BUILD_TESTING)
       rcl_action::rcl_action
       rclcpp::rclcpp
       rcutils::rcutils
-      ${test_msgs_TARGETS}
+      test_msgs::test_msgs
     )
   endif()
 
@@ -106,7 +106,7 @@ if(BUILD_TESTING)
       rcl_action::rcl_action
       rclcpp::rclcpp
       rcutils::rcutils
-      ${test_msgs_TARGETS}
+      test_msgs::test_msgs
     )
   endif()
 
@@ -118,7 +118,7 @@ if(BUILD_TESTING)
       mimick
       rcl_action::rcl_action
       rclcpp::rclcpp
-      ${test_msgs_TARGETS}
+      test_msgs::test_msgs
     )
   endif()
 
@@ -127,10 +127,10 @@ if(BUILD_TESTING)
   if(TARGET test_server_goal_handle)
     target_link_libraries(test_server_goal_handle
       ${PROJECT_NAME}
-      ${action_msgs_TARGETS}
+      action_msgs::action_msgs
       mimick
       rclcpp::rclcpp
-      ${test_msgs_TARGETS}
+      test_msgs::test_msgs
     )
   endif()
 
@@ -138,7 +138,7 @@ if(BUILD_TESTING)
   if(TARGET test_traits)
     target_link_libraries(test_traits
       ${PROJECT_NAME}
-      ${test_msgs_TARGETS}
+      test_msgs::test_msgs
     )
   endif()
 
@@ -146,7 +146,7 @@ if(BUILD_TESTING)
   if(TARGET test_types)
     target_link_libraries(test_types
       ${PROJECT_NAME}
-      ${test_msgs_TARGETS}
+      test_msgs::test_msgs
     )
   endif()
 endif()
diff --git a/rclcpp_action/test/benchmark/CMakeLists.txt b/rclcpp_action/test/benchmark/CMakeLists.txt
index 0ce6c6245c..9164d1d895 100644
--- a/rclcpp_action/test/benchmark/CMakeLists.txt
+++ b/rclcpp_action/test/benchmark/CMakeLists.txt
@@ -9,7 +9,7 @@ add_performance_test(
   benchmark_action_client.cpp
   TIMEOUT 240)
 if(TARGET benchmark_action_client)
-  target_link_libraries(benchmark_action_client ${PROJECT_NAME} rclcpp::rclcpp ${test_msgs_TARGETS})
+  target_link_libraries(benchmark_action_client ${PROJECT_NAME} rclcpp::rclcpp test_msgs::test_msgs)
 endif()
 
 add_performance_test(
@@ -17,5 +17,5 @@ add_performance_test(
   benchmark_action_server.cpp
   TIMEOUT 120)
 if(TARGET benchmark_action_server)
-  target_link_libraries(benchmark_action_server ${PROJECT_NAME} rclcpp::rclcpp ${test_msgs_TARGETS})
+  target_link_libraries(benchmark_action_server ${PROJECT_NAME} rclcpp::rclcpp test_msgs::test_msgs)
 endif()
diff --git a/rclcpp_components/CMakeLists.txt b/rclcpp_components/CMakeLists.txt
index d559575173..9fdcf55511 100644
--- a/rclcpp_components/CMakeLists.txt
+++ b/rclcpp_components/CMakeLists.txt
@@ -42,14 +42,14 @@ target_include_directories(component_manager PUBLIC
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(component_manager PUBLIC
   class_loader::class_loader
-  ${composition_interfaces_TARGETS}
+  composition_interfaces::composition_interfaces
   rclcpp::rclcpp
   rmw::rmw
 )
 target_link_libraries(component_manager PRIVATE
   ament_index_cpp::ament_index_cpp
   rcpputils::rcpputils
-  ${rcl_interfaces_TARGETS}
+  rcl_interfaces::rcl_interfaces
 )
 target_compile_definitions(component_manager
   PRIVATE "RCLCPP_COMPONENTS_BUILDING_LIBRARY")
diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index 95775eeee0..3eb78ad51f 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -34,10 +34,10 @@ target_include_directories(${PROJECT_NAME}
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME}
-  ${lifecycle_msgs_TARGETS}
+  lifecycle_msgs::lifecycle_msgs
   rcl::rcl
   rclcpp::rclcpp
-  ${rcl_interfaces_TARGETS}
+  rcl_interfaces::rcl_interfaces
   rcl_lifecycle::rcl_lifecycle
   rcutils::rcutils
   rosidl_typesupport_cpp::rosidl_typesupport_cpp
@@ -108,7 +108,7 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_lifecycle_publisher test/test_lifecycle_publisher.cpp)
   if(TARGET test_lifecycle_publisher)
-    target_link_libraries(test_lifecycle_publisher ${PROJECT_NAME} rcl_lifecycle::rcl_lifecycle rclcpp::rclcpp ${test_msgs_TARGETS})
+    target_link_libraries(test_lifecycle_publisher ${PROJECT_NAME} rcl_lifecycle::rcl_lifecycle rclcpp::rclcpp test_msgs::test_msgs)
   endif()
   ament_add_gtest(test_lifecycle_service_client test/test_lifecycle_service_client.cpp TIMEOUT 120)
   ament_add_test_label(test_lifecycle_service_client mimick)
@@ -127,7 +127,7 @@ if(BUILD_TESTING)
     target_link_libraries(test_client
       ${PROJECT_NAME}
       mimick
-      ${rcl_interfaces_TARGETS}
+      rcl_interfaces::rcl_interfaces
       rclcpp::rclcpp)
   endif()
   ament_add_gtest(test_service test/test_service.cpp TIMEOUT 120)
@@ -136,7 +136,7 @@ if(BUILD_TESTING)
     target_link_libraries(test_service
       ${PROJECT_NAME}
       mimick
-      ${test_msgs_TARGETS}
+      test_msgs::test_msgs
       rclcpp::rclcpp)
   endif()
   ament_add_gtest(test_state_machine_info test/test_state_machine_info.cpp)