diff --git a/rcl/include/rcl/time.h b/rcl/include/rcl/time.h
index 7c2b9d0..7b46398 100644
--- a/rcl/include/rcl/time.h
+++ b/rcl/include/rcl/time.h
@@ -237,43 +237,6 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_system_clock_fini(rcl_clock_t * clock);
 
-/// Initialize a time point using the clock.
-/**
- * This function will initialize the time_point using the clock
- * as a reference.
- * If the clock is null it will use the system default clock.
- *
- * This will allocate all necessary internal structures, and initialize variables.
- * The clock may be of types `RCL_ROS_TIME`, `RCL_STEADY_TIME`, or
- * `RCL_SYSTEM_TIME`.
- *
- * \param[in] time_point the handle to the clock which is being initialized.
- * \param[in] clock_type the type of the clock that clock will be used for reference.
- * \return `RCL_RET_OK` if the last call time was retrieved successfully, or
- * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
- * \return `RCL_RET_ERROR` an unspecified error occur.
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t
-rcl_time_point_init(rcl_time_point_t * time_point, rcl_clock_type_t * clock_type);
-
-/// Finalize a time_point
-/**
- * Finalize the time_point such that it is ready for deallocation.
- *
- * This will deallocate all necessary internal structures, and clean up any variables.
- *
- * \param[in] time_point the handle to the time_point which is being finalized.
- * \return `RCL_RET_OK` if the last call time was retrieved successfully, or
- * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
- * \return `RCL_RET_ERROR` an unspecified error occur.
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t
-rcl_time_point_fini(rcl_time_point_t * time_point);
-
 /// Initialize a duration using the clock.
 /**
  * This function will initialize the duration using the clock as a reference.
@@ -344,7 +307,7 @@ rcl_difference_times(
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_time_point_get_now(rcl_clock_t * clock, rcl_time_point_t * time_point);
+rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_t * time_point);
 
 
 /// Enable the ROS time abstraction override.
@@ -396,7 +359,7 @@ RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_is_enabled_ros_time_override(
-  rcl_time_source_t * time_source, bool * is_enabled);
+  rcl_clock_t * time_source, bool * is_enabled);
 
 /// Set the current time for this `RCL_ROS_TIME` time source.
 /**
@@ -415,7 +378,7 @@ RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_set_ros_time_override(
-  rcl_time_source_t * time_source, rcl_time_point_value_t time_value);
+  rcl_clock_t * time_source, rcl_time_point_value_t time_value);
 
 #if __cplusplus
 }
diff --git a/rcl/src/rcl/time.c b/rcl/src/rcl/time.c
index 1510deb..6b02e9d 100644
--- a/rcl/src/rcl/time.c
+++ b/rcl/src/rcl/time.c
@@ -188,24 +188,6 @@ rcl_system_clock_fini(rcl_clock_t * clock)
   return RCL_RET_OK;
 }
 
-rcl_ret_t
-rcl_time_point_init(rcl_time_point_t * time_point, rcl_clock_type_t * clock_type)
-{
-  RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
-  RCL_CHECK_ARGUMENT_FOR_NULL(clock_type, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
-  time_point->clock_type = *clock_type;
-
-  return RCL_RET_OK;
-}
-
-rcl_ret_t
-rcl_time_point_fini(rcl_time_point_t * time_point)
-{
-  RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
-  (void)time_point;
-  return RCL_RET_OK;
-}
-
 rcl_ret_t
 rcl_duration_init(rcl_duration_t * duration, rcl_clock_type_t * clock_type)
 {
@@ -238,17 +220,18 @@ rcl_difference_times(
   if (finish->nanoseconds < start->nanoseconds) {
     rcl_time_point_value_t intermediate = start->nanoseconds - finish->nanoseconds;
     delta->nanoseconds = -1 * (int) intermediate;
+  } else {
+    delta->nanoseconds = (int)(finish->nanoseconds - start->nanoseconds);
   }
-  delta->nanoseconds = (int)(finish->nanoseconds - start->nanoseconds);
   return RCL_RET_OK;
 }
 
 rcl_ret_t
-rcl_time_point_get_now(rcl_clock_t * clock, rcl_time_point_t * time_point)
+rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_t * time_point)
 {
   // TODO(tfoote) switch to use external time source
   RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
-  if (time_point->clock_type && clock->get_now) {
+  if (clock->type && clock->get_now) {
     return clock->get_now(clock->data,
              &(time_point->nanoseconds));
   }
diff --git a/rcl/test/rcl/test_time.cpp b/rcl/test/rcl/test_time.cpp
index 2a0dc5e..fe89f43 100644
--- a/rcl/test/rcl/test_time.cpp
+++ b/rcl/test/rcl/test_time.cpp
@@ -82,12 +82,10 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
   ret = rcl_is_enabled_ros_time_override(ros_clock, &is_enabled);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   EXPECT_EQ(is_enabled, false);
-  ret = rcl_time_point_init(&query_now, &(ros_clock->type));
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   assert_no_malloc_begin();
   assert_no_free_begin();
   // Check for normal operation (not allowed to alloc).
-  ret = rcl_time_point_get_now(ros_clock, &query_now);
+  ret = rcl_clock_get_now(ros_clock, &query_now);
   assert_no_malloc_end();
   assert_no_realloc_end();
   assert_no_free_end();
@@ -95,7 +93,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   EXPECT_NE(query_now.nanoseconds, 0u);
   // Compare to std::chrono::system_clock time (within a second).
-  ret = rcl_time_point_get_now(ros_clock, &query_now);
+  ret = rcl_clock_get_now(ros_clock, &query_now);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   {
     std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
@@ -119,7 +117,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   EXPECT_EQ(is_enabled, false);
   // get real
-  ret = rcl_time_point_get_now(ros_clock, &query_now);
+  ret = rcl_clock_get_now(ros_clock, &query_now);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   {
     std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
@@ -137,7 +135,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   EXPECT_EQ(is_enabled, true);
   // get sim
-  ret = rcl_time_point_get_now(ros_clock, &query_now);
+  ret = rcl_clock_get_now(ros_clock, &query_now);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   EXPECT_EQ(query_now.nanoseconds, set_point);
   // disable
@@ -148,7 +146,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   EXPECT_EQ(is_enabled, false);
   // get real
-  ret = rcl_time_point_get_now(ros_clock, &query_now);
+  ret = rcl_clock_get_now(ros_clock, &query_now);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   {
     std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
@@ -172,19 +170,11 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_for_clock_a
   ret = rcl_ros_clock_init(&source);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
 
-  rcl_time_point_t a_time;
-  ret = rcl_time_point_init(&a_time, &(source.type));
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
-
   rcl_clock_t * ros_clock =
     reinterpret_cast<rcl_clock_t *>(calloc(1, sizeof(rcl_clock_t)));
   rcl_ret_t retval = rcl_ros_clock_init(ros_clock);
   EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
 
-  rcl_time_point_t default_time;
-  ret = rcl_time_point_init(&default_time, &(ros_clock->type));
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
-
   // assert_no_malloc_begin();
   // assert_no_free_begin();
   // // Do stuff in here
@@ -205,10 +195,6 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_for_clock_a
   //   const int k_tolerance_ms = 1000;
   //   EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "system_clock differs";
   // }
-  ret = rcl_time_point_fini(&a_time);
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
-  ret = rcl_ros_clock_fini(&source);
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
 }
 
 TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), clock_validation) {
@@ -285,16 +271,16 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
   rcl_ret_t retval = rcl_ros_clock_init(ros_clock);
   EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
   EXPECT_TRUE(ros_clock != nullptr);
+  EXPECT_TRUE(ros_clock->data != nullptr);
+  EXPECT_EQ(ros_clock->type, RCL_ROS_TIME);
 
   rcl_ret_t ret;
   rcl_time_point_t a, b;
-  ret = rcl_time_point_init(&a, &(ros_clock->type));
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
-  ret = rcl_time_point_init(&b, &(ros_clock->type));
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
 
   a.nanoseconds = 1000;
   b.nanoseconds = 2000;
+  a.clock_type = RCL_ROS_TIME;
+  b.clock_type = RCL_ROS_TIME;
 
   rcl_duration_t d;
   ret = rcl_duration_init(&d, &(ros_clock->type));
@@ -310,10 +296,6 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   EXPECT_EQ(d.nanoseconds, -1000);
   EXPECT_EQ(d.clock_type, RCL_ROS_TIME);
-
-  rcl_time_point_t e;
-  ret = rcl_time_point_init(&e, &(ros_clock->type));
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
 }
 
 static bool pre_callback_called = false;
@@ -340,9 +322,6 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_update_callbacks) {
   rcl_ret_t ret;
   rcl_time_point_value_t set_point = 1000000000ull;
 
-  ret = rcl_time_point_init(&query_now, &(ros_clock->type));
-  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
-
   // set callbacks
   ros_clock->pre_update = pre_callback;
   ros_clock->post_update = post_callback;
@@ -352,7 +331,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_update_callbacks) {
   EXPECT_FALSE(post_callback_called);
 
   // Query it to do something different. no changes expected
-  ret = rcl_time_point_get_now(ros_clock, &query_now);
+  ret = rcl_clock_get_now(ros_clock, &query_now);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
 
   EXPECT_FALSE(pre_callback_called);