diff --git a/rclpy/rclpy/action/server.py b/rclpy/rclpy/action/server.py
index 1635d83a8..4938e5c14 100644
--- a/rclpy/rclpy/action/server.py
+++ b/rclpy/rclpy/action/server.py
@@ -161,15 +161,18 @@ def executing(self):
 
     def succeed(self, response=None):
         self._update_state(_rclpy.GoalEvent.SUCCEED)
-        self._set_result(response)
+        if response is not None:
+            self._set_result(response)
 
     def abort(self, response=None):
         self._update_state(_rclpy.GoalEvent.ABORT)
-        self._set_result(response)
+        if response is not None:
+            self._set_result(response)
 
     def canceled(self, response=None):
         self._update_state(_rclpy.GoalEvent.CANCELED)
-        self._set_result(response)
+        if response is not None:
+            self._set_result(response)
 
     def destroy(self):
         with self._lock: