diff --git a/include/openthread/border_router.h b/include/openthread/border_router.h
index 37871f80b..39324d6ed 100644
--- a/include/openthread/border_router.h
+++ b/include/openthread/border_router.h
@@ -81,7 +81,8 @@ OTAPI otError OTCALL otBorderRouterAddOnMeshPrefix(otInstance *aInstance, const
  * @param[in]  aInstance A pointer to an OpenThread instance.
  * @param[in]  aPrefix   A pointer to an IPv6 prefix.
  *
- * @retval OT_ERROR_NONE  Successfully removed the configuration from the local network data.
+ * @retval OT_ERROR_NONE       Successfully removed the configuration from the local network data.
+ * @retval OT_ERROR_NOT_FOUND  Could not find the Border Router entry.
  *
  * @sa otBorderRouterAddOnMeshPrefix
  * @sa otBorderRouterRegister
@@ -124,7 +125,8 @@ OTAPI otError OTCALL otBorderRouterAddRoute(otInstance *aInstance, const otExter
  * @param[in]  aInstance A pointer to an OpenThread instance.
  * @param[in]  aPrefix   A pointer to an IPv6 prefix.
  *
- * @retval OT_ERROR_NONE  Successfully removed the configuration from the local network data.
+ * @retval OT_ERROR_NONE       Successfully removed the configuration from the local network data.
+ * @retval OT_ERROR_NOT_FOUND  Could not find the Border Router entry.
  *
  * @sa otBorderRouterAddRoute
  * @sa otBorderRouterRegister
diff --git a/include/openthread/ip6.h b/include/openthread/ip6.h
index a464d71ea..9dab4f0bd 100644
--- a/include/openthread/ip6.h
+++ b/include/openthread/ip6.h
@@ -123,8 +123,10 @@ OTAPI const otNetifAddress *OTCALL otIp6GetUnicastAddresses(otInstance *aInstanc
  * @param[in]  aAddress  A pointer to an IP Address.
  *
  * @retval OT_ERROR_NONE          Successfully subscribed to the Network Interface Multicast Address.
+ * @retval OT_ERROR_ALREADY       The multicast address is already subscribed.
  * @retval OT_ERROR_INVALID_ARGS  The IP Address indicated by @p aAddress is invalid address.
  * @retval OT_ERROR_NO_BUFS       The Network Interface is already storing the maximum allowed external multicast addresses.
+ *
  */
 otError otIp6SubscribeMulticastAddress(otInstance *aInstance, const otIp6Address *aAddress);
 
diff --git a/include/openthread/thread_ftd.h b/include/openthread/thread_ftd.h
index eeffdf573..4ed933b90 100644
--- a/include/openthread/thread_ftd.h
+++ b/include/openthread/thread_ftd.h
@@ -266,7 +266,9 @@ OTAPI void OTCALL otThreadSetRouterUpgradeThreshold(otInstance *aInstance, uint8
  * @param[in]  aInstance  A pointer to an OpenThread instance.
  * @param[in]  aRouterId  The Router ID to release. Valid range is [0, 62].
  *
- * @retval OT_ERROR_NONE  Successfully released the Router ID specified by aRouterId.
+ * @retval OT_ERROR_NONE           Successfully released the Router ID specified by aRouterId.
+ * @retval OT_ERROR_INVALID_STATE  The Router ID was not allocated.
+ *
  */
 OTAPI otError OTCALL otThreadReleaseRouterId(otInstance *aInstance, uint8_t aRouterId);
 
diff --git a/src/ncp/ncp_base_ftd.cpp b/src/ncp/ncp_base_ftd.cpp
index 17948513d..50835955b 100644
--- a/src/ncp/ncp_base_ftd.cpp
+++ b/src/ncp/ncp_base_ftd.cpp
@@ -669,6 +669,11 @@ otError NcpBase::RemovePropertyHandler_THREAD_ACTIVE_ROUTER_IDS(uint8_t aHeader,
     VerifyOrExit(parsedLength > 0, spinelError = SPINEL_STATUS_PARSE_ERROR);
 
     error = otThreadReleaseRouterId(mInstance, routerId);
+
+    // `INVALID_STATE` is returned when router ID was not allocated (i.e. not in the list)
+    // in such a case, the "remove" operation can be considered successful.
+    VerifyOrExit(error != OT_ERROR_INVALID_STATE, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
diff --git a/src/ncp/ncp_base_mtd.cpp b/src/ncp/ncp_base_mtd.cpp
index 7722c469e..b96318409 100644
--- a/src/ncp/ncp_base_mtd.cpp
+++ b/src/ncp/ncp_base_mtd.cpp
@@ -1228,6 +1228,10 @@ otError NcpBase::RemovePropertyHandler_THREAD_ON_MESH_NETS(uint8_t aHeader, spin
 
     error = otBorderRouterRemoveOnMeshPrefix(mInstance, &ip6Prefix);
 
+    // If prefix was not on the list, "remove" command is successful,
+    // and we respond with a `SPINEL_STATUS_OK` status.
+    VerifyOrExit(error != OT_ERROR_NOT_FOUND, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
@@ -1573,6 +1577,11 @@ otError NcpBase::RemovePropertyHandler_IPV6_ADDRESS_TABLE(uint8_t aHeader, spine
     VerifyOrExit(parsedLength > 0, spinelError = SPINEL_STATUS_PARSE_ERROR);
 
     error = otIp6RemoveUnicastAddress(mInstance, addrPtr);
+
+    // If address was not on the list, "remove" command is successful,
+    // and we respond with a `SPINEL_STATUS_OK` status.
+    VerifyOrExit(error != OT_ERROR_NOT_FOUND, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
@@ -1686,6 +1695,9 @@ otError NcpBase::InsertPropertyHandler_IPV6_MULTICAST_ADDRESS_TABLE(uint8_t aHea
     VerifyOrExit(parsedLength > 0, spinelError = SPINEL_STATUS_PARSE_ERROR);
 
     error = otIp6SubscribeMulticastAddress(mInstance, addrPtr);
+
+    VerifyOrExit(error != OT_ERROR_ALREADY, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
@@ -1726,6 +1738,11 @@ otError NcpBase::RemovePropertyHandler_IPV6_MULTICAST_ADDRESS_TABLE(uint8_t aHea
     VerifyOrExit(parsedLength > 0, spinelError = SPINEL_STATUS_PARSE_ERROR);
 
     error = otIp6UnsubscribeMulticastAddress(mInstance, addrPtr);
+
+    // If the address was not on the list, "remove" command is successful,
+    // and we respond with a `SPINEL_STATUS_OK` status.
+    VerifyOrExit(error != OT_ERROR_NOT_FOUND, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
@@ -1962,6 +1979,11 @@ otError NcpBase::RemovePropertyHandler_THREAD_OFF_MESH_ROUTES(uint8_t aHeader, s
     ip6Prefix.mPrefix = *addrPtr;
 
     error = otBorderRouterRemoveRoute(mInstance, &ip6Prefix);
+
+    // If the route prefix was not on the list, "remove" command is successful,
+    // and we respond with a `SPINEL_STATUS_OK` status.
+    VerifyOrExit(error != OT_ERROR_NOT_FOUND, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
@@ -3413,6 +3435,11 @@ otError NcpBase::RemovePropertyHandler_THREAD_ASSISTING_PORTS(uint8_t aHeader, s
     VerifyOrExit(parsedLength > 0, spinelError = SPINEL_STATUS_PARSE_ERROR);
 
     error = otIp6RemoveUnsecurePort(mInstance, port);
+
+    // If unsecure port was not on the list, "remove" command is successful,
+    // and we respond with a `SPINEL_STATUS_OK` status.
+    VerifyOrExit(error != OT_ERROR_NOT_FOUND, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
@@ -3454,6 +3481,8 @@ otError NcpBase::RemovePropertyHandler_MAC_WHITELIST(uint8_t aHeader, spinel_pro
 
     error = otLinkFilterRemoveAddress(mInstance, extAddress);
 
+    VerifyOrExit(error != OT_ERROR_NOT_FOUND, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
@@ -3493,6 +3522,8 @@ otError NcpBase::RemovePropertyHandler_MAC_BLACKLIST(uint8_t aHeader, spinel_pro
 
     error = otLinkFilterRemoveAddress(mInstance, extAddress);
 
+    VerifyOrExit(error != OT_ERROR_NOT_FOUND, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(
@@ -3535,6 +3566,8 @@ otError NcpBase::RemovePropertyHandler_MAC_FIXED_RSS(uint8_t aHeader, spinel_pro
 
     error = otLinkFilterRemoveRssIn(mInstance, extAddress);
 
+    VerifyOrExit(error != OT_ERROR_NOT_FOUND, error = SendLastStatus(aHeader, SPINEL_STATUS_OK));
+
     VerifyOrExit(error == OT_ERROR_NONE, spinelError = ThreadErrorToSpinelStatus(error));
 
     error = SendPropertyUpdate(