diff --git a/src/core/meshcop/announce_begin_client.cpp b/src/core/meshcop/announce_begin_client.cpp
index 8b707d285..a312c38cd 100644
--- a/src/core/meshcop/announce_begin_client.cpp
+++ b/src/core/meshcop/announce_begin_client.cpp
@@ -64,7 +64,7 @@ Error AnnounceBeginClient::SendRequest(uint32_t            aChannelMask,
     Coap::Message *         message = nullptr;
 
     VerifyOrExit(Get<MeshCoP::Commissioner>().IsActive(), error = kErrorInvalidState);
-    VerifyOrExit((message = MeshCoP::NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsPost(aAddress, UriPath::kAnnounceBegin));
     SuccessOrExit(error = message->SetPayloadMarker());
diff --git a/src/core/meshcop/border_agent.cpp b/src/core/meshcop/border_agent.cpp
index 07d5c4e73..c4a637ba5 100644
--- a/src/core/meshcop/border_agent.cpp
+++ b/src/core/meshcop/border_agent.cpp
@@ -115,7 +115,7 @@ void BorderAgent::SendErrorMessage(ForwardContext &aForwardContext, Error aError
     Coap::CoapSecure &coaps   = Get<Coap::CoapSecure>();
     Coap::Message *   message = nullptr;
 
-    VerifyOrExit((message = NewMeshCoPMessage(coaps)) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = coaps.NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
     SuccessOrExit(error = aForwardContext.ToHeader(*message, CoapCodeFromError(aError)));
     SuccessOrExit(error = coaps.SendMessage(*message, coaps.GetMessageInfo()));
 
@@ -130,7 +130,7 @@ void BorderAgent::SendErrorMessage(const Coap::Message &aRequest, bool aSeparate
     Coap::CoapSecure &coaps   = Get<Coap::CoapSecure>();
     Coap::Message *   message = nullptr;
 
-    VerifyOrExit((message = NewMeshCoPMessage(coaps)) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = coaps.NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     if (aRequest.IsNonConfirmable() || aSeparate)
     {
@@ -173,7 +173,7 @@ void BorderAgent::HandleCoapResponse(ForwardContext &aForwardContext, const Coap
     Error          error;
 
     SuccessOrExit(error = aResult);
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Coap::CoapSecure>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Coap::CoapSecure>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     if (aForwardContext.IsPetition() && aResponse->GetCode() == Coap::kCodeChanged)
     {
@@ -360,7 +360,7 @@ bool BorderAgent::HandleUdpReceive(const Message &aMessage, const Ip6::MessageIn
 
     VerifyOrExit(aMessage.GetLength() > 0, error = kErrorNone);
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Coap::CoapSecure>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Coap::CoapSecure>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     message->InitAsNonConfirmablePost();
     SuccessOrExit(error = message->AppendUriPathOptions(UriPath::kProxyRx));
@@ -401,7 +401,7 @@ void BorderAgent::HandleRelayReceive(const Coap::Message &aMessage)
     Error          error;
 
     VerifyOrExit(aMessage.IsNonConfirmablePostRequest(), error = kErrorDrop);
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Coap::CoapSecure>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Coap::CoapSecure>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     message->InitAsNonConfirmablePost();
     SuccessOrExit(error = message->AppendUriPathOptions(UriPath::kRelayRx));
@@ -461,7 +461,7 @@ void BorderAgent::HandleRelayTransmit(const Coap::Message &aMessage)
 
     SuccessOrExit(error = Tlv::Find<JoinerRouterLocatorTlv>(aMessage, joinerRouterRloc));
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsNonConfirmablePost(UriPath::kRelayTx));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -497,7 +497,7 @@ Error BorderAgent::ForwardToLeader(const Coap::Message &   aMessage,
     Coap::Message *  message = nullptr;
     uint16_t         offset  = 0;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     if (aSeparate)
     {
diff --git a/src/core/meshcop/commissioner.cpp b/src/core/meshcop/commissioner.cpp
index d20e25ad8..d52d5f741 100644
--- a/src/core/meshcop/commissioner.cpp
+++ b/src/core/meshcop/commissioner.cpp
@@ -693,7 +693,7 @@ Error Commissioner::SendMgmtCommissionerGetRequest(const uint8_t *aTlvs, uint8_t
     Ip6::MessageInfo messageInfo;
     MeshCoP::Tlv     tlv;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsConfirmablePost(UriPath::kCommissionerGet));
 
@@ -753,7 +753,7 @@ Error Commissioner::SendMgmtCommissionerSetRequest(const otCommissioningDataset
     Coap::Message *  message;
     Ip6::MessageInfo messageInfo;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsConfirmablePost(UriPath::kCommissionerSet));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -828,7 +828,7 @@ Error Commissioner::SendPetition(void)
 
     mTransmitAttempts++;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsConfirmablePost(UriPath::kLeaderPetition));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -923,7 +923,7 @@ void Commissioner::SendKeepAlive(uint16_t aSessionId)
     Coap::Message *  message = nullptr;
     Ip6::MessageInfo messageInfo;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsConfirmablePost(UriPath::kLeaderKeepAlive));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -1110,7 +1110,7 @@ void Commissioner::SendJoinFinalizeResponse(const Coap::Message &aRequest, State
     Ip6::MessageInfo joinerMessageInfo;
     Coap::Message *  message;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Coap::CoapSecure>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Coap::CoapSecure>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->SetDefaultResponseHeader(aRequest));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -1163,7 +1163,7 @@ Error Commissioner::SendRelayTransmit(Message &aMessage, const Ip6::MessageInfo
     Ip6::MessageInfo messageInfo;
     Kek              kek;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     Get<KeyManager>().ExtractKek(kek);
 
diff --git a/src/core/meshcop/dataset_manager.cpp b/src/core/meshcop/dataset_manager.cpp
index 89b1f1c3a..d241b1f1d 100644
--- a/src/core/meshcop/dataset_manager.cpp
+++ b/src/core/meshcop/dataset_manager.cpp
@@ -276,7 +276,7 @@ void DatasetManager::SendSet(void)
         }
     }
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error =
                       message->InitAsConfirmablePost(IsActiveDataset() ? UriPath::kActiveSet : UriPath::kPendingSet));
@@ -419,7 +419,7 @@ void DatasetManager::SendGetResponse(const Coap::Message &   aRequest,
 
     IgnoreError(Read(dataset));
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->SetDefaultResponseHeader(aRequest));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -485,7 +485,7 @@ Error DatasetManager::SendSetRequest(const Dataset::Info &    aDatasetInfo,
 
     VerifyOrExit(!mMgmtPending, error = kErrorBusy);
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error =
                       message->InitAsConfirmablePost(IsActiveDataset() ? UriPath::kActiveSet : UriPath::kPendingSet));
@@ -614,7 +614,7 @@ Error DatasetManager::SendGetRequest(const Dataset::Components &aDatasetComponen
         datasetTlvs[length++] = Tlv::kChannelMask;
     }
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error =
                       message->InitAsConfirmablePost(IsActiveDataset() ? UriPath::kActiveGet : UriPath::kPendingGet));
diff --git a/src/core/meshcop/dataset_manager_ftd.cpp b/src/core/meshcop/dataset_manager_ftd.cpp
index 347edb0d5..7447b172b 100644
--- a/src/core/meshcop/dataset_manager_ftd.cpp
+++ b/src/core/meshcop/dataset_manager_ftd.cpp
@@ -268,7 +268,7 @@ void DatasetManager::SendSetResponse(const Coap::Message &   aRequest,
     Error          error = kErrorNone;
     Coap::Message *message;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->SetDefaultResponseHeader(aRequest));
     SuccessOrExit(error = message->SetPayloadMarker());
diff --git a/src/core/meshcop/energy_scan_client.cpp b/src/core/meshcop/energy_scan_client.cpp
index f0f8e1060..e2273651c 100644
--- a/src/core/meshcop/energy_scan_client.cpp
+++ b/src/core/meshcop/energy_scan_client.cpp
@@ -73,7 +73,7 @@ Error EnergyScanClient::SendQuery(uint32_t                           aChannelMas
     Coap::Message *         message = nullptr;
 
     VerifyOrExit(Get<MeshCoP::Commissioner>().IsActive(), error = kErrorInvalidState);
-    VerifyOrExit((message = MeshCoP::NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsPost(aAddress, UriPath::kEnergyScan));
     SuccessOrExit(error = message->SetPayloadMarker());
diff --git a/src/core/meshcop/joiner.cpp b/src/core/meshcop/joiner.cpp
index 28d0b8fa1..52cac4cf7 100644
--- a/src/core/meshcop/joiner.cpp
+++ b/src/core/meshcop/joiner.cpp
@@ -439,7 +439,7 @@ Error Joiner::PrepareJoinerFinalizeMessage(const char *aProvisioningUrl,
     VendorStackVersionTlv vendorStackVersionTlv;
     ProvisioningUrlTlv    provisioningUrlTlv;
 
-    VerifyOrExit((mFinalizeMessage = NewMeshCoPMessage(Get<Coap::CoapSecure>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((mFinalizeMessage = Get<Coap::CoapSecure>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     mFinalizeMessage->InitAsConfirmablePost();
     SuccessOrExit(error = mFinalizeMessage->AppendUriPathOptions(UriPath::kJoinerFinalize));
@@ -597,7 +597,7 @@ void Joiner::SendJoinerEntrustResponse(const Coap::Message &aRequest, const Ip6:
     Coap::Message *  message;
     Ip6::MessageInfo responseInfo(aRequestInfo);
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
     SuccessOrExit(error = message->SetDefaultResponseHeader(aRequest));
     message->SetSubType(Message::kSubTypeJoinerEntrust);
 
diff --git a/src/core/meshcop/joiner_router.cpp b/src/core/meshcop/joiner_router.cpp
index 0ae92a53e..5247b661a 100644
--- a/src/core/meshcop/joiner_router.cpp
+++ b/src/core/meshcop/joiner_router.cpp
@@ -140,7 +140,7 @@ void JoinerRouter::HandleUdpReceive(Message &aMessage, const Ip6::MessageInfo &a
 
     SuccessOrExit(error = GetBorderAgentRloc(Get<ThreadNetif>(), borderAgentRloc));
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsNonConfirmablePost(UriPath::kRelayRx));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -316,7 +316,7 @@ Coap::Message *JoinerRouter::PrepareJoinerEntrustMessage(void)
     const Tlv *    tlv;
     NetworkKey     networkKey;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     message->InitAsConfirmablePost();
     SuccessOrExit(error = message->AppendUriPathOptions(UriPath::kJoinerEntrust));
diff --git a/src/core/meshcop/meshcop.hpp b/src/core/meshcop/meshcop.hpp
index 6a7a2d25a..5598372ea 100644
--- a/src/core/meshcop/meshcop.hpp
+++ b/src/core/meshcop/meshcop.hpp
@@ -405,15 +405,6 @@ private:
     void UpdateBloomFilter(const HashBitIndexes &aIndexes);
 };
 
-/**
- * This function creates Message for MeshCoP.
- *
- */
-inline Coap::Message *NewMeshCoPMessage(Coap::CoapBase &aCoap)
-{
-    return aCoap.NewMessage(Message::Settings(Message::kWithLinkSecurity, Message::kPriorityNet));
-}
-
 /**
  * This function generates PSKc.
  *
diff --git a/src/core/meshcop/meshcop_leader.cpp b/src/core/meshcop/meshcop_leader.cpp
index 69e6b4307..570a80c03 100644
--- a/src/core/meshcop/meshcop_leader.cpp
+++ b/src/core/meshcop/meshcop_leader.cpp
@@ -126,7 +126,7 @@ void Leader::SendPetitionResponse(const Coap::Message &   aRequest,
     Error          error = kErrorNone;
     Coap::Message *message;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->SetDefaultResponseHeader(aRequest));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -209,7 +209,7 @@ void Leader::SendKeepAliveResponse(const Coap::Message &   aRequest,
     Error          error = kErrorNone;
     Coap::Message *message;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->SetDefaultResponseHeader(aRequest));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -231,7 +231,7 @@ void Leader::SendDatasetChanged(const Ip6::Address &aAddress)
     Ip6::MessageInfo messageInfo;
     Coap::Message *  message;
 
-    VerifyOrExit((message = NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsConfirmablePost(UriPath::kDatasetChanged));
 
diff --git a/src/core/meshcop/panid_query_client.cpp b/src/core/meshcop/panid_query_client.cpp
index a36f985a6..094b1c5c8 100644
--- a/src/core/meshcop/panid_query_client.cpp
+++ b/src/core/meshcop/panid_query_client.cpp
@@ -70,7 +70,7 @@ Error PanIdQueryClient::SendQuery(uint16_t                            aPanId,
     Coap::Message *         message = nullptr;
 
     VerifyOrExit(Get<MeshCoP::Commissioner>().IsActive(), error = kErrorInvalidState);
-    VerifyOrExit((message = MeshCoP::NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsPost(aAddress, UriPath::kPanIdQuery));
     SuccessOrExit(error = message->SetPayloadMarker());
diff --git a/src/core/thread/energy_scan_server.cpp b/src/core/thread/energy_scan_server.cpp
index 54ae6d4c5..0a2c819f4 100644
--- a/src/core/thread/energy_scan_server.cpp
+++ b/src/core/thread/energy_scan_server.cpp
@@ -175,7 +175,7 @@ void EnergyScanServer::SendReport(void)
     Ip6::MessageInfo        messageInfo;
     Coap::Message *         message;
 
-    VerifyOrExit((message = MeshCoP::NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsConfirmablePost(UriPath::kEnergyReport));
     SuccessOrExit(error = message->SetPayloadMarker());
diff --git a/src/core/thread/network_data_leader_ftd.cpp b/src/core/thread/network_data_leader_ftd.cpp
index da44fa1f0..f318d6e70 100644
--- a/src/core/thread/network_data_leader_ftd.cpp
+++ b/src/core/thread/network_data_leader_ftd.cpp
@@ -305,7 +305,7 @@ void Leader::SendCommissioningGetResponse(const Coap::Message &   aRequest,
     uint8_t *             data   = nullptr;
     uint8_t               length = 0;
 
-    VerifyOrExit((message = MeshCoP::NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->SetDefaultResponseHeader(aRequest));
     SuccessOrExit(error = message->SetPayloadMarker());
@@ -359,7 +359,7 @@ void Leader::SendCommissioningSetResponse(const Coap::Message &    aRequest,
     Error          error = kErrorNone;
     Coap::Message *message;
 
-    VerifyOrExit((message = MeshCoP::NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->SetDefaultResponseHeader(aRequest));
     SuccessOrExit(error = message->SetPayloadMarker());
diff --git a/src/core/thread/panid_query_server.cpp b/src/core/thread/panid_query_server.cpp
index 0ba97a07f..6a31b0af5 100644
--- a/src/core/thread/panid_query_server.cpp
+++ b/src/core/thread/panid_query_server.cpp
@@ -115,7 +115,7 @@ void PanIdQueryServer::SendConflict(void)
     Ip6::MessageInfo        messageInfo;
     Coap::Message *         message;
 
-    VerifyOrExit((message = MeshCoP::NewMeshCoPMessage(Get<Tmf::Agent>())) != nullptr, error = kErrorNoBufs);
+    VerifyOrExit((message = Get<Tmf::Agent>().NewPriorityMessage()) != nullptr, error = kErrorNoBufs);
 
     SuccessOrExit(error = message->InitAsConfirmablePost(UriPath::kPanIdConflict));
     SuccessOrExit(error = message->SetPayloadMarker());