diff --git a/rclpy/rclpy/impl/_rclpy_pybind11.pyi b/rclpy/rclpy/impl/_rclpy_pybind11.pyi
new file mode 100644
index 000000000..df259e477
--- /dev/null
+++ b/rclpy/rclpy/impl/_rclpy_pybind11.pyi
@@ -0,0 +1,22 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Sequence
+
+
+def rclpy_remove_ros_args(pycli_args: Sequence[str]) -> list[str]: ...
+"""Remove ROS-specific arguments from argument vector."""
+
+def rclpy_get_rmw_implementation_identifier() -> str: ...
+"""Retrieve the identifier for the active RMW implementation."""
diff --git a/rclpy/rclpy/impl/implementation_singleton.py b/rclpy/rclpy/impl/implementation_singleton.py
index cdbfc0b00..ba7f55fe8 100644
--- a/rclpy/rclpy/impl/implementation_singleton.py
+++ b/rclpy/rclpy/impl/implementation_singleton.py
@@ -26,19 +26,7 @@
         # ...
 """
 
-
-from typing import List, Protocol, Sequence
-
 from rpyutils import import_c_library
 package = 'rclpy'
 
-rclpy_implementation: 'rclpyHandle' = import_c_library('._rclpy_pybind11', package)
-
-
-class rclpyHandle(Protocol):
-
-    def rclpy_remove_ros_args(self, pycli_args: Sequence[str]) -> List[str]:
-        ...
-
-    def rclpy_get_rmw_implementation_identifier(self) -> str:
-        ...
+rclpy_implementation = import_c_library('._rclpy_pybind11', package)
diff --git a/rclpy/rclpy/impl/implementation_singleton.pyi b/rclpy/rclpy/impl/implementation_singleton.pyi
new file mode 100644
index 000000000..a1e16bdf9
--- /dev/null
+++ b/rclpy/rclpy/impl/implementation_singleton.pyi
@@ -0,0 +1,18 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from rclpy.impl import _rclpy_pybind11
+
+rclpy_implementation = _rclpy_pybind11