diff --git a/canard/service_client.h b/canard/service_client.h
index bca543f..8997e78 100644
--- a/canard/service_client.h
+++ b/canard/service_client.h
@@ -68,7 +68,9 @@ class Client : public HandlerList, public Sender {
     /// @param transfer transfer object of the request
     void handle_message(const CanardRxTransfer& transfer) override {
         rsptype msg {};
-        rsptype::cxx_iface::rsp_decode(&transfer, &msg);
+        if (!rsptype::cxx_iface::rsp_decode(&transfer, &msg)) {
+            return;
+        }
 
         // scan through the list of entries for corresponding server node id and transfer id
         Client<rsptype>* entry = branch_head[index];
diff --git a/canard/service_server.h b/canard/service_server.h
index bfc7b39..9e6dbb5 100644
--- a/canard/service_server.h
+++ b/canard/service_server.h
@@ -51,7 +51,9 @@ class Server : public HandlerList {
     /// @param transfer transfer object of the request
     void handle_message(const CanardRxTransfer& transfer) override {
         reqtype msg {};
-        reqtype::cxx_iface::req_decode(&transfer, &msg);
+        if (!reqtype::cxx_iface::req_decode(&transfer, &msg)) {
+            return;
+        }
         transfer_id = transfer.transfer_id;
         // call the registered callback
         cb(transfer, msg);
diff --git a/canard/subscriber.h b/canard/subscriber.h
index 52f1598..c53de2c 100644
--- a/canard/subscriber.h
+++ b/canard/subscriber.h
@@ -71,7 +71,9 @@ class Subscriber : public HandlerList {
     /// @param transfer transfer object
     void handle_message(const CanardRxTransfer& transfer) override {
         msgtype msg {};
-        msgtype::cxx_iface::decode(&transfer, &msg);
+        if (!msgtype::cxx_iface::decode(&transfer, &msg)) {
+            return;
+        }
         // call all registered callbacks in one go
         Subscriber<msgtype>* entry = branch_head[index];
         while (entry != nullptr) {