diff --git a/zenoh/src/api/builders/publisher.rs b/zenoh/src/api/builders/publisher.rs
index 950cd946b3..91100829e5 100644
--- a/zenoh/src/api/builders/publisher.rs
+++ b/zenoh/src/api/builders/publisher.rs
@@ -320,6 +320,7 @@ impl<'a, 'b> PublisherBuilder<'a, 'b> {
             priority: self.priority,
             is_express: self.is_express,
             destination: self.destination,
+            matching_listeners: Default::default(),
         })
     }
 }
@@ -371,6 +372,7 @@ impl<'a, 'b> Wait for PublisherBuilder<'a, 'b> {
                 priority: self.priority,
                 is_express: self.is_express,
                 destination: self.destination,
+                matching_listeners: Default::default(),
             })
     }
 }
diff --git a/zenoh/src/api/publisher.rs b/zenoh/src/api/publisher.rs
index cfce42d6ed..ccb36888e2 100644
--- a/zenoh/src/api/publisher.rs
+++ b/zenoh/src/api/publisher.rs
@@ -13,17 +13,18 @@
 //
 
 use std::{
+    collections::HashSet,
     convert::TryFrom,
     fmt,
     future::{IntoFuture, Ready},
     mem::ManuallyDrop,
     pin::Pin,
+    sync::{Arc, Mutex},
     task::{Context, Poll},
 };
 
 use futures::Sink;
 use zenoh_core::{zread, Resolvable, Resolve, Wait};
-use zenoh_keyexpr::keyexpr;
 use zenoh_protocol::{
     core::CongestionControl,
     network::{push::ext, Push},
@@ -135,6 +136,7 @@ pub struct Publisher<'a> {
     pub(crate) priority: Priority,
     pub(crate) is_express: bool,
     pub(crate) destination: Locality,
+    pub(crate) matching_listeners: Arc<Mutex<HashSet<Id>>>,
 }
 
 impl<'a> Publisher<'a> {
@@ -161,28 +163,33 @@ impl<'a> Publisher<'a> {
         }
     }
 
+    #[inline]
     pub fn key_expr(&self) -> &KeyExpr<'a> {
         &self.key_expr
     }
 
+    #[inline]
+    /// Get the `congestion_control` applied when routing the data.
+    pub fn congestion_control(&self) -> CongestionControl {
+        self.congestion_control
+    }
+
     /// Change the `congestion_control` to apply when routing the data.
     #[inline]
     pub fn set_congestion_control(&mut self, congestion_control: CongestionControl) {
         self.congestion_control = congestion_control;
     }
 
-    /// Change the priority of the written data.
+    /// Get the priority of the written data.
     #[inline]
-    pub fn set_priority(&mut self, priority: Priority) {
-        self.priority = priority;
+    pub fn priority(&self) -> Priority {
+        self.priority
     }
 
-    /// Restrict the matching subscribers that will receive the published data
-    /// to the ones that have the given [`Locality`](crate::prelude::Locality).
-    #[zenoh_macros::unstable]
+    /// Change the priority of the written data.
     #[inline]
-    pub fn set_allowed_destination(&mut self, destination: Locality) {
-        self.destination = destination;
+    pub fn set_priority(&mut self, priority: Priority) {
+        self.priority = priority;
     }
 
     /// Consumes the given `Publisher`, returning a thread-safe reference-counting
@@ -331,6 +338,7 @@ impl<'a> Publisher<'a> {
     pub fn matching_listener(&self) -> MatchingListenerBuilder<'_, DefaultHandler> {
         MatchingListenerBuilder {
             publisher: PublisherRef::Borrow(self),
+            background: false,
             handler: DefaultHandler::default(),
         }
     }
@@ -351,6 +359,13 @@ impl<'a> Publisher<'a> {
     pub fn undeclare(self) -> impl Resolve<ZResult<()>> + 'a {
         Undeclarable::undeclare_inner(self, ())
     }
+
+    fn undeclare_matching_listeners(&self) -> ZResult<()> {
+        for id in zlock!(self.matching_listeners).drain() {
+            self.session.undeclare_matches_listener_inner(id)?
+        }
+        Ok(())
+    }
 }
 
 /// Functions to create zenoh entities with `'static` lifetime.
@@ -436,6 +451,7 @@ impl PublisherDeclarations for std::sync::Arc<Publisher<'static>> {
     fn matching_listener(&self) -> MatchingListenerBuilder<'static, DefaultHandler> {
         MatchingListenerBuilder {
             publisher: PublisherRef::Shared(self.clone()),
+            background: false,
             handler: DefaultHandler::default(),
         }
     }
@@ -473,6 +489,7 @@ impl Resolvable for PublisherUndeclaration<'_> {
 
 impl Wait for PublisherUndeclaration<'_> {
     fn wait(self) -> <Self as Resolvable>::To {
+        self.publisher.undeclare_matching_listeners()?;
         self.publisher
             .session
             .undeclare_publisher_inner(self.publisher.id)
@@ -490,6 +507,7 @@ impl IntoFuture for PublisherUndeclaration<'_> {
 
 impl Drop for Publisher<'_> {
     fn drop(&mut self) {
+        let _ = self.undeclare_matching_listeners();
         let _ = self.session.undeclare_publisher_inner(self.id);
     }
 }
@@ -755,6 +773,7 @@ impl MatchingStatus {
 #[derive(Debug)]
 pub struct MatchingListenerBuilder<'a, Handler> {
     pub(crate) publisher: PublisherRef<'a>,
+    pub(crate) background: bool,
     pub handler: Handler,
 }
 
@@ -791,10 +810,12 @@ impl<'a> MatchingListenerBuilder<'a, DefaultHandler> {
     {
         let MatchingListenerBuilder {
             publisher,
+            background,
             handler: _,
         } = self;
         MatchingListenerBuilder {
             publisher,
+            background,
             handler: callback,
         }
     }
@@ -861,9 +882,14 @@ impl<'a> MatchingListenerBuilder<'a, DefaultHandler> {
     {
         let MatchingListenerBuilder {
             publisher,
+            background,
             handler: _,
         } = self;
-        MatchingListenerBuilder { publisher, handler }
+        MatchingListenerBuilder {
+            publisher,
+            background,
+            handler,
+        }
     }
 }
 
@@ -885,16 +911,18 @@ where
     #[zenoh_macros::unstable]
     fn wait(self) -> <Self as Resolvable>::To {
         let (callback, receiver) = self.handler.into_handler();
-        self.publisher
+        let state = self
+            .publisher
             .session
-            .declare_matches_listener_inner(&self.publisher, callback)
-            .map(|listener_state| MatchingListener {
-                listener: MatchingListenerInner {
-                    publisher: self.publisher,
-                    state: listener_state,
-                },
-                receiver,
-            })
+            .declare_matches_listener_inner(&self.publisher, callback)?;
+        zlock!(self.publisher.matching_listeners).insert(state.id);
+        Ok(MatchingListener {
+            listener: MatchingListenerInner {
+                publisher: self.publisher,
+                state,
+            },
+            receiver,
+        })
     }
 }
 
@@ -1005,6 +1033,13 @@ impl<'a, Receiver> MatchingListener<'a, Receiver> {
     pub fn undeclare(self) -> MatchingListenerUndeclaration<'a> {
         self.listener.undeclare()
     }
+
+    /// Make the matching listener run in background, until the publisher is undeclared.
+    #[inline]
+    #[zenoh_macros::unstable]
+    pub fn background(self) {
+        std::mem::forget(self);
+    }
 }
 
 #[zenoh_macros::unstable]
@@ -1042,6 +1077,7 @@ impl Resolvable for MatchingListenerUndeclaration<'_> {
 #[zenoh_macros::unstable]
 impl Wait for MatchingListenerUndeclaration<'_> {
     fn wait(self) -> <Self as Resolvable>::To {
+        zlock!(self.subscriber.publisher.matching_listeners).remove(&self.subscriber.state.id);
         self.subscriber
             .publisher
             .session
@@ -1062,6 +1098,7 @@ impl IntoFuture for MatchingListenerUndeclaration<'_> {
 #[zenoh_macros::unstable]
 impl Drop for MatchingListenerInner<'_> {
     fn drop(&mut self) {
+        zlock!(self.publisher.matching_listeners).remove(&self.state.id);
         let _ = self
             .publisher
             .session
diff --git a/zenoh/src/api/queryable.rs b/zenoh/src/api/queryable.rs
index e3b9f30ba8..381e1265cb 100644
--- a/zenoh/src/api/queryable.rs
+++ b/zenoh/src/api/queryable.rs
@@ -894,6 +894,13 @@ impl<'a, Handler> Queryable<'a, Handler> {
     pub fn undeclare(self) -> impl Resolve<ZResult<()>> + 'a {
         Undeclarable::undeclare_inner(self, ())
     }
+
+    /// Make the queryable run in background, until the session is closed.
+    #[inline]
+    #[zenoh_macros::unstable]
+    pub fn background(self) {
+        std::mem::forget(self);
+    }
 }
 
 impl<'a, T> Undeclarable<(), QueryableUndeclaration<'a>> for Queryable<'a, T> {
diff --git a/zenoh/src/api/session.rs b/zenoh/src/api/session.rs
index eb51817dfb..f3fe09ec52 100644
--- a/zenoh/src/api/session.rs
+++ b/zenoh/src/api/session.rs
@@ -533,6 +533,24 @@ impl Session {
         let session = ManuallyDrop::new(self);
         ResolveFuture::new(async move {
             trace!("close()");
+            let mut publishers = Vec::new();
+            let mut queryables = Vec::new();
+            let mut subscribers = Vec::new();
+            {
+                let state = zread!(session.state);
+                publishers.extend(state.publishers.keys());
+                queryables.extend(state.queryables.keys());
+                subscribers.extend(state.subscribers.keys());
+            }
+            for id in publishers {
+                session.undeclare_publisher_inner(id)?;
+            }
+            for id in queryables {
+                session.close_queryable(id)?;
+            }
+            for id in subscribers {
+                session.undeclare_subscriber_inner(id)?;
+            }
             session
                 .task_controller
                 .terminate_all(Duration::from_secs(10));
@@ -540,7 +558,7 @@ impl Session {
                 session.runtime.close().await?;
             }
             let mut state = zwrite!(session.state);
-            // clean up to break cyclic references from self.state to itself
+            // clean up to break cyclic references from session.state to itself
             let primitives = state.primitives.take();
             state.queryables.clear();
             drop(state);
diff --git a/zenoh/src/api/subscriber.rs b/zenoh/src/api/subscriber.rs
index 83acd4c219..e156e7223e 100644
--- a/zenoh/src/api/subscriber.rs
+++ b/zenoh/src/api/subscriber.rs
@@ -503,6 +503,13 @@ impl<'a, Handler> Subscriber<'a, Handler> {
     pub fn undeclare(self) -> SubscriberUndeclaration<'a> {
         self.subscriber.undeclare()
     }
+
+    /// Make the subscriber run in background, until the session is closed.
+    #[inline]
+    #[zenoh_macros::unstable]
+    pub fn background(self) {
+        std::mem::forget(self);
+    }
 }
 
 impl<'a, T> Undeclarable<(), SubscriberUndeclaration<'a>> for Subscriber<'a, T> {