diff --git a/rmw/include/rmw/init_options.h b/rmw/include/rmw/init_options.h
index 45ad24b8..1fe69ba7 100644
--- a/rmw/include/rmw/init_options.h
+++ b/rmw/include/rmw/init_options.h
@@ -71,7 +71,7 @@ RMW_WARN_UNUSED
 rmw_init_options_t
 rmw_get_zero_initialized_init_options(void);
 
-/// Initialize given init_options with the default values and implementation specific values.
+/// Initialize given init options with the default values and implementation specific values.
 /**
  * The given allocator is used, if required, during setup of the init options,
  * but is also used during initialization.
@@ -80,6 +80,13 @@ rmw_get_zero_initialized_init_options(void);
  *
  * The `impl` pointer should not be changed manually.
  *
+ * \pre The given init options must be zero initialized.
+ *
+ * \post If initialization fails, init options will remain zero initialized.
+ *
+ * \remark Giving an already initialized init options will result
+ *   in a failure with return code `RMW_RET_INVALID_ARGUMENT`.
+ *
  * <hr>
  * Attribute          | Adherence
  * ------------------ | -------------
@@ -93,7 +100,6 @@ rmw_get_zero_initialized_init_options(void);
  * \param[inout] init_options object to be setup
  * \param[in] allocator to be used during setup and during initialization
  * \return `RMW_RET_OK` if setup is successful, or
- * \return `RMW_RET_INVALID_ARGUMENT` if init_options has already be initialized, or
  * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RMW_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
@@ -108,11 +114,16 @@ rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t all
  * The allocator from the source is used for any allocations and stored in the
  * destination.
  *
- * The destination should either be zero initialized with
- * `rmw_get_zero_initialized_init_options()` or should have had
- * `rmw_init_options_fini()` called on it.
- * Giving an already initialized init options for the destination will result
- * in a failure with return code `RMW_RET_INVALID_ARGUMENT`.
+ * \pre The source init options must have been initialized
+ *   i.e. had `rmw_init_options_init()` called on.
+ * \pre The destination init options must be zero initialized.
+ *
+ * \post If copy fails, destination init options will remain zero initialized.
+ *
+ * \remark Giving an zero initialized init options as a source will result
+ *   in a failure with return code `RMW_RET_INVALID_ARGUMENT`.
+ * \remark Giving an already initialized init options for the destination will result
+ *   in a failure with return code `RMW_RET_INVALID_ARGUMENT`.
  *
  * <hr>
  * Attribute          | Adherence
@@ -129,7 +140,6 @@ rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t all
  * \return `RMW_RET_OK` if the copy is successful, or
  * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the implementation
  *   identifier for src does not match the implementation of this function, or
- * \return `RMW_RET_INVALID_ARGUMENT` if the dst has already be initialized, or
  * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RMW_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
@@ -139,10 +149,19 @@ RMW_WARN_UNUSED
 rmw_ret_t
 rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst);
 
-/// Finalize the given init_options.
+/// Finalize the given init options.
 /**
- * The given init_options must be non-`NULL` and valid, i.e. had
- * `rmw_init_options_init()` called on it but not this function yet.
+ * This function will return early if a logical error, such as `RMW_RET_INVALID_ARGUMENT`
+ * or `RMW_RET_INCORRECT_RMW_IMPLEMENTATION`, ensues, leaving the given init options
+ * unchanged.
+ * Otherwise, it will proceed despite errors, freeing as much resources as it can and zero
+ * initializing the given init options.
+ *
+ * \pre The given init options must have been initialized
+ *   i.e. had `rmw_init_options_init()` called on.
+ *
+ * \remarks If init options are zero initialized,
+ *   then `RMW_RET_INVALID_ARGUMENT` is returned.
  *
  * <hr>
  * Attribute          | Adherence
@@ -154,9 +173,11 @@ rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst);
  *
  * This should be defined by the rmw implementation.
  *
- * \param[inout] init_options object to be setup
- * \return `RMW_RET_OK` if setup is successful, or
+ * \param[inout] init_options object to finalized
+ * \return `RMW_RET_OK` if finalization is successful, or
  * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the implementation
+ *   identifier does not match the implementation of this function, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
 RMW_PUBLIC