diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
index a6d8263e..e3bb6ac4 100644
--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
@@ -21,6 +21,7 @@ find_package(PythonInterp 3.6 REQUIRED)
 
 find_package(python_cmake_module REQUIRED)
 find_package(PythonExtra MODULE REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Development NumPy)
 
 # Get a list of typesupport implementations from valid rmw implementations.
 rosidl_generator_py_get_typesupports(_typesupport_impls)
@@ -165,52 +166,23 @@ set(rosidl_generator_py_suffix "__rosidl_generator_py")
 set(_target_name_lib "${rosidl_generate_interfaces_TARGET}${rosidl_generator_py_suffix}")
 add_library(${_target_name_lib} SHARED ${_generated_c_files})
 target_link_libraries(${_target_name_lib}
+  PRIVATE
   ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c)
 add_dependencies(
   ${_target_name_lib}
   ${rosidl_generate_interfaces_TARGET}${_target_suffix}
   ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
 )
-
-target_link_libraries(
-  ${_target_name_lib}
-  ${PythonExtra_LIBRARIES}
-)
 target_include_directories(${_target_name_lib}
   PRIVATE
   ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
   ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py
-  ${PythonExtra_INCLUDE_DIRS}
-)
-
-# Check if numpy is in the include path
-find_file(_numpy_h numpy/numpyconfig.h
-  PATHS ${PythonExtra_INCLUDE_DIRS}
 )
 
-if(APPLE OR WIN32 OR NOT _numpy_h)
-  # add include directory for numpy headers
-  set(_python_code
-    "import numpy"
-    "print(numpy.get_include())"
-  )
-  execute_process(
-    COMMAND "${PYTHON_EXECUTABLE}" "-c" "${_python_code}"
-    OUTPUT_VARIABLE _output
-    RESULT_VARIABLE _result
-    OUTPUT_STRIP_TRAILING_WHITESPACE
-  )
-  if(NOT _result EQUAL 0)
-    message(FATAL_ERROR
-      "execute_process(${PYTHON_EXECUTABLE} -c '${_python_code}') returned "
-      "error code ${_result}")
-  endif()
-  message(STATUS "Using numpy include directory: ${_output}")
-  target_include_directories(${_target_name_lib} PUBLIC "${_output}")
-endif()
+target_link_libraries(${_target_name_lib} PRIVATE Python3::NumPy Python3::Module)
 
 rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c")
-target_link_libraries(${_target_name_lib} ${c_typesupport_target})
+target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target})
 
 foreach(_typesupport_impl ${_typesupport_impls})
   find_package(${_typesupport_impl} REQUIRED)
@@ -245,27 +217,28 @@ foreach(_typesupport_impl ${_typesupport_impls})
   endif()
   target_link_libraries(
     ${_target_name}
+    PRIVATE
     ${_target_name_lib}
-    ${PythonExtra_LIBRARIES}
     ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
+    Python3::Module
   )
 
   target_include_directories(${_target_name}
     PUBLIC
     ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
     ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py
-    ${PythonExtra_INCLUDE_DIRS}
   )
 
-  target_link_libraries(${_target_name} ${c_typesupport_target})
+  target_link_libraries(${_target_name} PRIVATE ${c_typesupport_target})
 
   ament_target_dependencies(${_target_name}
+    PUBLIC
     "rosidl_runtime_c"
     "rosidl_typesupport_c"
     "rosidl_typesupport_interface"
   )
   foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
-    ament_target_dependencies(${_target_name}
+    ament_target_dependencies(${_target_name} PUBLIC
       ${_pkg_name}
     )
   endforeach()
@@ -273,7 +246,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
   add_dependencies(${_target_name}
     ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
   )
-  ament_target_dependencies(${_target_name}
+  ament_target_dependencies(${_target_name} PUBLIC
     "rosidl_runtime_c"
     "rosidl_generator_py"
   )
@@ -288,7 +261,7 @@ set(PYTHON_EXECUTABLE ${_PYTHON_EXECUTABLE})
 
 # Depend on rosidl_generator_py generated targets from our dependencies
 foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
-  target_link_libraries(${_target_name_lib} ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}})
+  target_link_libraries(${_target_name_lib} PRIVATE ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}})
 endforeach()
 
 set_lib_properties("")