diff --git a/src/core/common/tlvs.cpp b/src/core/common/tlvs.cpp
index b39595e0a..bb6eb4d29 100644
--- a/src/core/common/tlvs.cpp
+++ b/src/core/common/tlvs.cpp
@@ -64,7 +64,7 @@ otError Tlv::AppendTo(Message &aMessage) const
     return aMessage.Append(this, static_cast<uint16_t>(size));
 }
 
-otError Tlv::Get(const Message &aMessage, uint8_t aType, uint16_t aMaxSize, Tlv &aTlv)
+otError Tlv::FindTlv(const Message &aMessage, uint8_t aType, uint16_t aMaxSize, Tlv &aTlv)
 {
     otError  error;
     uint16_t offset;
@@ -83,12 +83,12 @@ exit:
     return error;
 }
 
-otError Tlv::GetOffset(const Message &aMessage, uint8_t aType, uint16_t &aOffset)
+otError Tlv::FindTlvOffset(const Message &aMessage, uint8_t aType, uint16_t &aOffset)
 {
     return Find(aMessage, aType, &aOffset, NULL, NULL);
 }
 
-otError Tlv::GetValueOffset(const Message &aMessage, uint8_t aType, uint16_t &aValueOffset, uint16_t &aLength)
+otError Tlv::FindTlvValueOffset(const Message &aMessage, uint8_t aType, uint16_t &aValueOffset, uint16_t &aLength)
 {
     otError  error;
     uint16_t offset;
@@ -174,12 +174,12 @@ exit:
     return error;
 }
 
-otError Tlv::ReadUint8Tlv(const Message &aMessage, uint8_t aType, uint8_t &aValue)
+otError Tlv::FindUint8Tlv(const Message &aMessage, uint8_t aType, uint8_t &aValue)
 {
     otError  error = OT_ERROR_NONE;
     TlvUint8 tlv8;
 
-    SuccessOrExit(error = Get(aMessage, aType, sizeof(tlv8), tlv8));
+    SuccessOrExit(error = FindTlv(aMessage, aType, sizeof(tlv8), tlv8));
     VerifyOrExit(tlv8.IsValid(), error = OT_ERROR_PARSE);
     aValue = tlv8.GetUint8Value();
 
@@ -187,12 +187,12 @@ exit:
     return error;
 }
 
-otError Tlv::ReadUint16Tlv(const Message &aMessage, uint8_t aType, uint16_t &aValue)
+otError Tlv::FindUint16Tlv(const Message &aMessage, uint8_t aType, uint16_t &aValue)
 {
     otError   error = OT_ERROR_NONE;
     TlvUint16 tlv16;
 
-    SuccessOrExit(error = Get(aMessage, aType, sizeof(tlv16), tlv16));
+    SuccessOrExit(error = FindTlv(aMessage, aType, sizeof(tlv16), tlv16));
     VerifyOrExit(tlv16.IsValid(), error = OT_ERROR_PARSE);
     aValue = tlv16.GetUint16Value();
 
@@ -200,12 +200,12 @@ exit:
     return error;
 }
 
-otError Tlv::ReadUint32Tlv(const Message &aMessage, uint8_t aType, uint32_t &aValue)
+otError Tlv::FindUint32Tlv(const Message &aMessage, uint8_t aType, uint32_t &aValue)
 {
     otError   error = OT_ERROR_NONE;
     TlvUint32 tlv32;
 
-    SuccessOrExit(error = Get(aMessage, aType, sizeof(tlv32), tlv32));
+    SuccessOrExit(error = FindTlv(aMessage, aType, sizeof(tlv32), tlv32));
     VerifyOrExit(tlv32.IsValid(), error = OT_ERROR_PARSE);
     aValue = tlv32.GetUint32Value();
 
@@ -213,13 +213,13 @@ exit:
     return error;
 }
 
-otError Tlv::ReadTlv(const Message &aMessage, uint8_t aType, void *aValue, uint8_t aLength)
+otError Tlv::FindTlv(const Message &aMessage, uint8_t aType, void *aValue, uint8_t aLength)
 {
     otError  error;
     uint16_t offset;
     uint16_t length;
 
-    SuccessOrExit(error = GetValueOffset(aMessage, aType, offset, length));
+    SuccessOrExit(error = FindTlvValueOffset(aMessage, aType, offset, length));
     VerifyOrExit(length >= aLength, error = OT_ERROR_PARSE);
     aMessage.Read(offset, aLength, static_cast<uint8_t *>(aValue));
 
diff --git a/src/core/common/tlvs.hpp b/src/core/common/tlvs.hpp
index 91cf6625a..91581f6fc 100644
--- a/src/core/common/tlvs.hpp
+++ b/src/core/common/tlvs.hpp
@@ -191,7 +191,7 @@ public:
      * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
      *
      */
-    static otError Get(const Message &aMessage, uint8_t aType, uint16_t aMaxSize, Tlv &aTlv);
+    static otError FindTlv(const Message &aMessage, uint8_t aType, uint16_t aMaxSize, Tlv &aTlv);
 
     /**
      * This static method obtains the offset of a TLV within @p aMessage.
@@ -206,7 +206,7 @@ public:
      * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
      *
      */
-    static otError GetOffset(const Message &aMessage, uint8_t aType, uint16_t &aOffset);
+    static otError FindTlvOffset(const Message &aMessage, uint8_t aType, uint16_t &aOffset);
 
     /**
      * This static method finds the offset and length of a given TLV type.
@@ -222,7 +222,7 @@ public:
      * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
      *
      */
-    static otError GetValueOffset(const Message &aMessage, uint8_t aType, uint16_t &aOffset, uint16_t &aLength);
+    static otError FindTlvValueOffset(const Message &aMessage, uint8_t aType, uint16_t &aOffset, uint16_t &aLength);
 
     /**
      * This static method searches for a TLV with a given type in a message and reads its value as an `uint8_t`.
@@ -236,7 +236,7 @@ public:
      * @retval OT_ERROR_PARSE       TLV was found but it was not well-formed and could not be parsed.
      *
      */
-    static otError ReadUint8Tlv(const Message &aMessage, uint8_t aType, uint8_t &aValue);
+    static otError FindUint8Tlv(const Message &aMessage, uint8_t aType, uint8_t &aValue);
 
     /**
      * This static method searches for a TLV with a given type in a message and reads its value as an `uint16_t`.
@@ -250,7 +250,7 @@ public:
      * @retval OT_ERROR_PARSE       TLV was found but it was not well-formed and could not be parsed.
      *
      */
-    static otError ReadUint16Tlv(const Message &aMessage, uint8_t aType, uint16_t &aValue);
+    static otError FindUint16Tlv(const Message &aMessage, uint8_t aType, uint16_t &aValue);
 
     /**
      * This static method searches for a TLV with a given type in a message and reads its value as an `uint32_t`.
@@ -264,7 +264,7 @@ public:
      * @retval OT_ERROR_PARSE       TLV was found but it was not well-formed and could not be parsed.
      *
      */
-    static otError ReadUint32Tlv(const Message &aMessage, uint8_t aType, uint32_t &aValue);
+    static otError FindUint32Tlv(const Message &aMessage, uint8_t aType, uint32_t &aValue);
 
     /**
      * This static method searches for a TLV with a given type in a message, ensures its length is same or larger than
@@ -273,7 +273,7 @@ public:
      * If the TLV length is smaller than the minimum length @p aLength, the TLV is considered invalid. In this case,
      * this method returns `OT_ERROR_PARSE` and the @p aValue buffer is not updated.
      *
-     * If the TLV is length is larger than @p aLength, the TLV is considered valid, but only the @aLength first bytes
+     * If the TLV length is larger than @p aLength, the TLV is considered valid, but only the first @p aLength bytes
      * of the value are read and copied into the @p aValue buffer.
      *
      * @param[in]    aMessage    A reference to the message.
@@ -281,12 +281,12 @@ public:
      * @param[out]   aValue      A buffer to output the value (must contain at least @p aLength bytes).
      * @param[in]    aLength     The expected (minimum) length of the TLV value.
      *
-     * @retval OT_ERROR_NONE       The TLV was found and read successfully. @p @aValue is updated.
+     * @retval OT_ERROR_NONE       The TLV was found and read successfully. @p aValue is updated.
      * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
      * @retval OT_ERROR_PARSE      TLV was found but it was not well-formed and could not be parsed.
      *
      */
-    static otError ReadTlv(const Message &aMessage, uint8_t aType, void *aValue, uint8_t aLength);
+    static otError FindTlv(const Message &aMessage, uint8_t aType, void *aValue, uint8_t aLength);
 
     /**
      * This static method appends a simple TLV with a given type and an `uint8_t` value to a message.
diff --git a/src/core/meshcop/border_agent.cpp b/src/core/meshcop/border_agent.cpp
index 3d7a74cc2..3868f86bb 100644
--- a/src/core/meshcop/border_agent.cpp
+++ b/src/core/meshcop/border_agent.cpp
@@ -244,13 +244,13 @@ void BorderAgent::HandleCoapResponse(void *               aContext,
     {
         uint8_t state;
 
-        SuccessOrExit(error = Tlv::ReadUint8Tlv(*response, Tlv::kState, state));
+        SuccessOrExit(error = Tlv::FindUint8Tlv(*response, Tlv::kState, state));
 
         if (state == StateTlv::kAccept)
         {
             uint16_t sessionId;
 
-            SuccessOrExit(error = Tlv::ReadUint16Tlv(*response, Tlv::kCommissionerSessionId, sessionId));
+            SuccessOrExit(error = Tlv::FindUint16Tlv(*response, Tlv::kCommissionerSessionId, sessionId));
 
             IgnoreError(instance.Get<Mle::MleRouter>().GetCommissionerAloc(borderAgent.mCommissionerAloc.GetAddress(),
                                                                            sessionId));
@@ -397,7 +397,7 @@ void BorderAgent::HandleProxyTransmit(const Coap::Message &aMessage)
     {
         UdpEncapsulationTlv tlv;
 
-        SuccessOrExit(error = Tlv::GetOffset(aMessage, Tlv::kUdpEncapsulation, offset));
+        SuccessOrExit(error = Tlv::FindTlvOffset(aMessage, Tlv::kUdpEncapsulation, offset));
         VerifyOrExit(aMessage.Read(offset, sizeof(tlv), &tlv) == sizeof(tlv), error = OT_ERROR_PARSE);
 
         VerifyOrExit((message = Get<Ip6::Udp>().NewMessage(0)) != NULL, error = OT_ERROR_NO_BUFS);
@@ -410,7 +410,7 @@ void BorderAgent::HandleProxyTransmit(const Coap::Message &aMessage)
     }
 
     SuccessOrExit(
-        error = Tlv::ReadTlv(aMessage, Tlv::kIPv6Address, messageInfo.GetPeerAddr().mFields.m8, sizeof(Ip6::Address)));
+        error = Tlv::FindTlv(aMessage, Tlv::kIPv6Address, messageInfo.GetPeerAddr().mFields.m8, sizeof(Ip6::Address)));
 
     SuccessOrExit(error = Get<Ip6::Udp>().SendDatagram(*message, messageInfo, Ip6::kProtoUdp));
     otLogInfoMeshCoP("Proxy transmit sent");
@@ -547,7 +547,7 @@ void BorderAgent::HandleRelayTransmit(const Coap::Message &aMessage)
 
     VerifyOrExit(aMessage.IsNonConfirmable() && aMessage.GetCode() == OT_COAP_CODE_POST, OT_NOOP);
 
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kJoinerRouterLocator, joinerRouterRloc));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kJoinerRouterLocator, joinerRouterRloc));
 
     VerifyOrExit((message = NewMeshCoPMessage(Get<Coap::Coap>())) != NULL, error = OT_ERROR_NO_BUFS);
 
diff --git a/src/core/meshcop/commissioner.cpp b/src/core/meshcop/commissioner.cpp
index 96754e234..217d83097 100644
--- a/src/core/meshcop/commissioner.cpp
+++ b/src/core/meshcop/commissioner.cpp
@@ -739,10 +739,10 @@ void Commissioner::HandleLeaderPetitionResponse(Coap::Message *         aMessage
 
     otLogInfoMeshCoP("received Leader Petition response");
 
-    SuccessOrExit(Tlv::ReadUint8Tlv(*aMessage, Tlv::kState, state));
+    SuccessOrExit(Tlv::FindUint8Tlv(*aMessage, Tlv::kState, state));
     VerifyOrExit(state == StateTlv::kAccept, IgnoreError(Stop(/* aResign */ false)));
 
-    SuccessOrExit(Tlv::ReadUint16Tlv(*aMessage, Tlv::kCommissionerSessionId, mSessionId));
+    SuccessOrExit(Tlv::FindUint16Tlv(*aMessage, Tlv::kCommissionerSessionId, mSessionId));
 
     // reject this session by sending KeepAlive reject if commissioner is in disabled state
     // this could happen if commissioner is stopped by API during petitioning
@@ -842,7 +842,7 @@ void Commissioner::HandleLeaderKeepAliveResponse(Coap::Message *         aMessag
 
     otLogInfoMeshCoP("received Leader keep-alive response");
 
-    SuccessOrExit(Tlv::ReadUint8Tlv(*aMessage, Tlv::kState, state));
+    SuccessOrExit(Tlv::FindUint8Tlv(*aMessage, Tlv::kState, state));
     VerifyOrExit(state == StateTlv::kAccept, IgnoreError(Stop(/* aResign */ false)));
 
     mTimer.Start(Time::SecToMsec(kKeepAliveTimeout) / 2);
@@ -876,11 +876,11 @@ void Commissioner::HandleRelayReceive(Coap::Message &aMessage, const Ip6::Messag
 
     VerifyOrExit(aMessage.IsNonConfirmable() && aMessage.GetCode() == OT_COAP_CODE_POST, OT_NOOP);
 
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kJoinerUdpPort, joinerPort));
-    SuccessOrExit(error = Tlv::ReadTlv(aMessage, Tlv::kJoinerIid, joinerIid, sizeof(joinerIid)));
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kJoinerRouterLocator, joinerRloc));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kJoinerUdpPort, joinerPort));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, Tlv::kJoinerIid, joinerIid, sizeof(joinerIid)));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kJoinerRouterLocator, joinerRloc));
 
-    SuccessOrExit(error = Tlv::GetValueOffset(aMessage, Tlv::kJoinerDtlsEncapsulation, offset, length));
+    SuccessOrExit(error = Tlv::FindTlvValueOffset(aMessage, Tlv::kJoinerDtlsEncapsulation, offset, length));
     VerifyOrExit(length <= aMessage.GetLength() - offset, error = OT_ERROR_PARSE);
 
     if (!Get<Coap::CoapSecure>().IsConnectionActive())
@@ -976,7 +976,7 @@ void Commissioner::HandleJoinerFinalize(Coap::Message &aMessage, const Ip6::Mess
 
     otLogInfoMeshCoP("received joiner finalize");
 
-    if (Tlv::GetTlv(aMessage, Tlv::kProvisioningUrl, sizeof(provisioningUrl), provisioningUrl) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kProvisioningUrl, sizeof(provisioningUrl), provisioningUrl) == OT_ERROR_NONE)
     {
         uint8_t len = static_cast<uint8_t>(StringLength(mProvisioningUrl, sizeof(mProvisioningUrl)));
 
diff --git a/src/core/meshcop/dataset_manager_ftd.cpp b/src/core/meshcop/dataset_manager_ftd.cpp
index 5ad882412..97fcb9555 100644
--- a/src/core/meshcop/dataset_manager_ftd.cpp
+++ b/src/core/meshcop/dataset_manager_ftd.cpp
@@ -107,14 +107,14 @@ otError DatasetManager::HandleSet(Coap::Message &aMessage, const Ip6::MessageInf
 
     type = (strcmp(mUriSet, OT_URI_PATH_ACTIVE_SET) == 0 ? Tlv::kActiveTimestamp : Tlv::kPendingTimestamp);
 
-    if (Tlv::GetTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) != OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) != OT_ERROR_NONE)
     {
         ExitNow();
     }
 
     VerifyOrExit(activeTimestamp.IsValid(), OT_NOOP);
 
-    if (Tlv::GetTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
     {
         VerifyOrExit(pendingTimestamp.IsValid(), OT_NOOP);
     }
@@ -126,7 +126,7 @@ otError DatasetManager::HandleSet(Coap::Message &aMessage, const Ip6::MessageInf
     VerifyOrExit(mLocal.Compare(timestamp) > 0, OT_NOOP);
 
     // check channel
-    if (Tlv::GetTlv(aMessage, Tlv::kChannel, sizeof(channel), channel) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kChannel, sizeof(channel), channel) == OT_ERROR_NONE)
     {
         VerifyOrExit(channel.IsValid(), OT_NOOP);
 
@@ -137,20 +137,20 @@ otError DatasetManager::HandleSet(Coap::Message &aMessage, const Ip6::MessageInf
     }
 
     // check PAN ID
-    if (Tlv::ReadUint16Tlv(aMessage, Tlv::kPanId, panId) == OT_ERROR_NONE && panId != Get<Mac::Mac>().GetPanId())
+    if (Tlv::FindUint16Tlv(aMessage, Tlv::kPanId, panId) == OT_ERROR_NONE && panId != Get<Mac::Mac>().GetPanId())
     {
         doesAffectConnectivity = true;
     }
 
     // check mesh local prefix
-    if (Tlv::ReadTlv(aMessage, Tlv::kMeshLocalPrefix, &meshLocalPrefix, sizeof(meshLocalPrefix)) == OT_ERROR_NONE &&
+    if (Tlv::FindTlv(aMessage, Tlv::kMeshLocalPrefix, &meshLocalPrefix, sizeof(meshLocalPrefix)) == OT_ERROR_NONE &&
         meshLocalPrefix != Get<Mle::MleRouter>().GetMeshLocalPrefix())
     {
         doesAffectConnectivity = true;
     }
 
     // check network master key
-    if (Tlv::ReadTlv(aMessage, Tlv::kNetworkMasterKey, &masterKey, sizeof(masterKey)) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kNetworkMasterKey, &masterKey, sizeof(masterKey)) == OT_ERROR_NONE)
     {
         hasMasterKey = true;
 
@@ -171,7 +171,7 @@ otError DatasetManager::HandleSet(Coap::Message &aMessage, const Ip6::MessageInf
     }
 
     // check commissioner session id
-    if (Tlv::ReadUint16Tlv(aMessage, Tlv::kCommissionerSessionId, sessionId) == OT_ERROR_NONE)
+    if (Tlv::FindUint16Tlv(aMessage, Tlv::kCommissionerSessionId, sessionId) == OT_ERROR_NONE)
     {
         const CommissionerSessionIdTlv *localId;
 
diff --git a/src/core/meshcop/energy_scan_client.cpp b/src/core/meshcop/energy_scan_client.cpp
index 4f4f7d234..ffda298df 100644
--- a/src/core/meshcop/energy_scan_client.cpp
+++ b/src/core/meshcop/energy_scan_client.cpp
@@ -133,7 +133,7 @@ void EnergyScanClient::HandleReport(Coap::Message &aMessage, const Ip6::MessageI
 
     VerifyOrExit((mask = MeshCoP::ChannelMaskTlv::GetChannelMask(aMessage)) != 0, OT_NOOP);
 
-    SuccessOrExit(MeshCoP::Tlv::GetTlv(aMessage, MeshCoP::Tlv::kEnergyList, sizeof(energyList), energyList.tlv));
+    SuccessOrExit(MeshCoP::Tlv::FindTlv(aMessage, MeshCoP::Tlv::kEnergyList, sizeof(energyList), energyList.tlv));
     VerifyOrExit(energyList.tlv.IsValid(), OT_NOOP);
 
     if (mCallback != NULL)
diff --git a/src/core/meshcop/joiner.cpp b/src/core/meshcop/joiner.cpp
index a927e5d91..a447c4a27 100644
--- a/src/core/meshcop/joiner.cpp
+++ b/src/core/meshcop/joiner.cpp
@@ -529,7 +529,7 @@ void Joiner::HandleJoinerFinalizeResponse(Coap::Message &         aMessage,
                      aMessage.GetCode() == OT_COAP_CODE_CHANGED,
                  OT_NOOP);
 
-    SuccessOrExit(Tlv::ReadUint8Tlv(aMessage, Tlv::kState, state));
+    SuccessOrExit(Tlv::FindUint8Tlv(aMessage, Tlv::kState, state));
 
     SetState(OT_JOINER_STATE_ENTRUST);
     mTimer.Start(kReponseTimeout);
@@ -565,7 +565,7 @@ void Joiner::HandleJoinerEntrust(Coap::Message &aMessage, const Ip6::MessageInfo
 
     memset(&dataset, 0, sizeof(dataset));
 
-    SuccessOrExit(error = Tlv::ReadTlv(aMessage, Tlv::kNetworkMasterKey, &dataset.mMasterKey, sizeof(MasterKey)));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, Tlv::kNetworkMasterKey, &dataset.mMasterKey, sizeof(MasterKey)));
     dataset.mComponents.mIsMasterKeyPresent = true;
 
     dataset.mChannel                      = Get<Mac::Mac>().GetPanChannel();
diff --git a/src/core/meshcop/joiner_router.cpp b/src/core/meshcop/joiner_router.cpp
index 65bf6ef62..bbdaf2546 100644
--- a/src/core/meshcop/joiner_router.cpp
+++ b/src/core/meshcop/joiner_router.cpp
@@ -203,10 +203,10 @@ void JoinerRouter::HandleRelayTransmit(Coap::Message &aMessage, const Ip6::Messa
 
     otLogInfoMeshCoP("Received relay transmit");
 
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kJoinerUdpPort, joinerPort));
-    SuccessOrExit(error = Tlv::ReadTlv(aMessage, Tlv::kJoinerIid, joinerIid, sizeof(joinerIid)));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kJoinerUdpPort, joinerPort));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, Tlv::kJoinerIid, joinerIid, sizeof(joinerIid)));
 
-    SuccessOrExit(error = Tlv::GetValueOffset(aMessage, Tlv::kJoinerDtlsEncapsulation, offset, length));
+    SuccessOrExit(error = Tlv::FindTlvValueOffset(aMessage, Tlv::kJoinerDtlsEncapsulation, offset, length));
 
     VerifyOrExit((message = mSocket.NewMessage(0, settings)) != NULL, error = OT_ERROR_NO_BUFS);
 
@@ -218,7 +218,7 @@ void JoinerRouter::HandleRelayTransmit(Coap::Message &aMessage, const Ip6::Messa
 
     SuccessOrExit(error = mSocket.SendTo(*message, messageInfo));
 
-    if (Tlv::ReadTlv(aMessage, Tlv::kJoinerRouterKek, &kek, sizeof(kek)) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kJoinerRouterKek, &kek, sizeof(kek)) == OT_ERROR_NONE)
     {
         otLogInfoMeshCoP("Received kek");
 
diff --git a/src/core/meshcop/meshcop_leader.cpp b/src/core/meshcop/meshcop_leader.cpp
index 9bd9a6d82..50416142d 100644
--- a/src/core/meshcop/meshcop_leader.cpp
+++ b/src/core/meshcop/meshcop_leader.cpp
@@ -81,7 +81,7 @@ void Leader::HandlePetition(Coap::Message &aMessage, const Ip6::MessageInfo &aMe
     otLogInfoMeshCoP("received petition");
 
     VerifyOrExit(Get<Mle::MleRouter>().IsRoutingLocator(aMessageInfo.GetPeerAddr()), OT_NOOP);
-    SuccessOrExit(Tlv::GetTlv(aMessage, Tlv::kCommissionerId, sizeof(commissionerId), commissionerId));
+    SuccessOrExit(Tlv::FindTlv(aMessage, Tlv::kCommissionerId, sizeof(commissionerId), commissionerId));
 
     if (mTimer.IsRunning())
     {
@@ -176,9 +176,9 @@ void Leader::HandleKeepAlive(Coap::Message &aMessage, const Ip6::MessageInfo &aM
 
     otLogInfoMeshCoP("received keep alive");
 
-    SuccessOrExit(Tlv::ReadUint8Tlv(aMessage, Tlv::kState, state));
+    SuccessOrExit(Tlv::FindUint8Tlv(aMessage, Tlv::kState, state));
 
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, Tlv::kCommissionerSessionId, sessionId));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, Tlv::kCommissionerSessionId, sessionId));
 
     borderAgentLocator = static_cast<BorderAgentLocatorTlv *>(
         Get<NetworkData::Leader>().GetCommissioningDataSubTlv(Tlv::kBorderAgentLocator));
diff --git a/src/core/meshcop/meshcop_tlvs.cpp b/src/core/meshcop/meshcop_tlvs.cpp
index 9d91b09cd..357d8cf4d 100644
--- a/src/core/meshcop/meshcop_tlvs.cpp
+++ b/src/core/meshcop/meshcop_tlvs.cpp
@@ -285,7 +285,7 @@ uint32_t ChannelMaskTlv::GetChannelMask(const Message &aMessage)
     uint16_t offset;
     uint16_t end;
 
-    SuccessOrExit(GetValueOffset(aMessage, kChannelMask, offset, end));
+    SuccessOrExit(FindTlvValueOffset(aMessage, kChannelMask, offset, end));
     end += offset;
 
     while (offset + sizeof(ChannelMaskEntryBase) <= end)
diff --git a/src/core/meshcop/meshcop_tlvs.hpp b/src/core/meshcop/meshcop_tlvs.hpp
index 221544b07..2e7924537 100644
--- a/src/core/meshcop/meshcop_tlvs.hpp
+++ b/src/core/meshcop/meshcop_tlvs.hpp
@@ -158,26 +158,34 @@ public:
      * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
      *
      */
-    static otError GetTlv(const Message &aMessage, Type aType, uint16_t aMaxLength, Tlv &aTlv)
+    static otError FindTlv(const Message &aMessage, Type aType, uint16_t aMaxLength, Tlv &aTlv)
     {
-        return ot::Tlv::Get(aMessage, static_cast<uint8_t>(aType), aMaxLength, aTlv);
+        return ot::Tlv::FindTlv(aMessage, static_cast<uint8_t>(aType), aMaxLength, aTlv);
     }
 
     /**
-     * This static method finds the offset and length of a given TLV type.
+     * This static method searches for a TLV with a given type in a message, ensures its length is same or larger than
+     * an expected minimum value, and then reads its value into a given buffer.
      *
-     * @param[in]   aMessage    A reference to the message.
-     * @param[in]   aType       The Type value to search for.
-     * @param[out]  aOffset     The offset where the value starts.
-     * @param[out]  aLength     The length of the value.
+     * If the TLV length is smaller than the minimum length @p aLength, the TLV is considered invalid. In this case,
+     * this method returns `OT_ERROR_PARSE` and the @p aValue buffer is not updated.
      *
-     * @retval OT_ERROR_NONE       Successfully found the TLV.
+     * If the TLV length is larger than @p aLength, the TLV is considered valid, but only the first @p aLength bytes
+     * of the value are read and copied into the @p aValue buffer.
+     *
+     * @param[in]    aMessage    A reference to the message.
+     * @param[in]    aType       The TLV type to search for.
+     * @param[out]   aValue      A buffer to output the value (must contain at least @p aLength bytes).
+     * @param[in]    aLength     The expected (minimum) length of the TLV value.
+     *
+     * @retval OT_ERROR_NONE       The TLV was found and read successfully. @p aValue is updated.
      * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
+     * @retval OT_ERROR_PARSE      TLV was found but it was not well-formed and could not be parsed.
      *
      */
-    static otError GetValueOffset(const Message &aMessage, Type aType, uint16_t &aOffset, uint16_t &aLength)
+    static otError FindTlv(const Message &aMessage, Type aType, void *aValue, uint8_t aLength)
     {
-        return ot::Tlv::GetValueOffset(aMessage, static_cast<uint8_t>(aType), aOffset, aLength);
+        return ot::Tlv::FindTlv(aMessage, aType, aValue, aLength);
     }
 
     /**
diff --git a/src/core/meshcop/panid_query_client.cpp b/src/core/meshcop/panid_query_client.cpp
index 1fa2dea4a..9a5684a09 100644
--- a/src/core/meshcop/panid_query_client.cpp
+++ b/src/core/meshcop/panid_query_client.cpp
@@ -121,7 +121,7 @@ void PanIdQueryClient::HandleConflict(Coap::Message &aMessage, const Ip6::Messag
 
     otLogInfoMeshCoP("received panid conflict");
 
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, MeshCoP::Tlv::kPanId, panId));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, MeshCoP::Tlv::kPanId, panId));
 
     VerifyOrExit((mask = MeshCoP::ChannelMaskTlv::GetChannelMask(aMessage)) != 0, OT_NOOP);
 
diff --git a/src/core/thread/address_resolver.cpp b/src/core/thread/address_resolver.cpp
index c9fb7e980..3610ba478 100644
--- a/src/core/thread/address_resolver.cpp
+++ b/src/core/thread/address_resolver.cpp
@@ -603,11 +603,11 @@ void AddressResolver::HandleAddressNotification(Coap::Message &aMessage, const I
 
     VerifyOrExit(aMessage.IsConfirmable() && aMessage.GetCode() == OT_COAP_CODE_POST, OT_NOOP);
 
-    SuccessOrExit(Tlv::ReadTlv(aMessage, ThreadTlv::kTarget, &target, sizeof(target)));
-    SuccessOrExit(Tlv::ReadTlv(aMessage, ThreadTlv::kMeshLocalEid, meshLocalIid, sizeof(meshLocalIid)));
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, ThreadTlv::kRloc16, rloc16));
+    SuccessOrExit(Tlv::FindTlv(aMessage, ThreadTlv::kTarget, &target, sizeof(target)));
+    SuccessOrExit(Tlv::FindTlv(aMessage, ThreadTlv::kMeshLocalEid, meshLocalIid, sizeof(meshLocalIid)));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, ThreadTlv::kRloc16, rloc16));
 
-    switch (Tlv::ReadUint32Tlv(aMessage, ThreadTlv::kLastTransactionTime, lastTransactionTime))
+    switch (Tlv::FindUint32Tlv(aMessage, ThreadTlv::kLastTransactionTime, lastTransactionTime))
     {
     case OT_ERROR_NONE:
         break;
@@ -732,8 +732,8 @@ void AddressResolver::HandleAddressError(Coap::Message &aMessage, const Ip6::Mes
         }
     }
 
-    SuccessOrExit(error = Tlv::ReadTlv(aMessage, ThreadTlv::kTarget, &target, sizeof(target)));
-    SuccessOrExit(error = Tlv::ReadTlv(aMessage, ThreadTlv::kMeshLocalEid, meshLocalIid, sizeof(meshLocalIid)));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, ThreadTlv::kTarget, &target, sizeof(target)));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, ThreadTlv::kMeshLocalEid, meshLocalIid, sizeof(meshLocalIid)));
 
     for (const Ip6::NetifUnicastAddress *address = Get<ThreadNetif>().GetUnicastAddresses(); address;
          address                                 = address->GetNext())
@@ -795,7 +795,7 @@ void AddressResolver::HandleAddressQuery(Coap::Message &aMessage, const Ip6::Mes
 
     VerifyOrExit(aMessage.IsNonConfirmable() && aMessage.GetCode() == OT_COAP_CODE_POST, OT_NOOP);
 
-    SuccessOrExit(Tlv::ReadTlv(aMessage, ThreadTlv::kTarget, &target, sizeof(target)));
+    SuccessOrExit(Tlv::FindTlv(aMessage, ThreadTlv::kTarget, &target, sizeof(target)));
 
     otLogInfoArp("Received address query from 0x%04x for target %s", aMessageInfo.GetPeerAddr().GetLocator(),
                  target.ToString().AsCString());
diff --git a/src/core/thread/announce_begin_server.cpp b/src/core/thread/announce_begin_server.cpp
index c37d567e3..33b68e718 100644
--- a/src/core/thread/announce_begin_server.cpp
+++ b/src/core/thread/announce_begin_server.cpp
@@ -75,8 +75,8 @@ void AnnounceBeginServer::HandleRequest(Coap::Message &aMessage, const Ip6::Mess
     VerifyOrExit(aMessage.GetCode() == OT_COAP_CODE_POST, OT_NOOP);
     VerifyOrExit((mask = MeshCoP::ChannelMaskTlv::GetChannelMask(aMessage)) != 0, OT_NOOP);
 
-    SuccessOrExit(Tlv::ReadUint8Tlv(aMessage, MeshCoP::Tlv::kCount, count));
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, MeshCoP::Tlv::kPeriod, period));
+    SuccessOrExit(Tlv::FindUint8Tlv(aMessage, MeshCoP::Tlv::kCount, count));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, MeshCoP::Tlv::kPeriod, period));
 
     SendAnnounce(mask, count, period);
 
diff --git a/src/core/thread/energy_scan_server.cpp b/src/core/thread/energy_scan_server.cpp
index 67e309c3b..aa6394217 100644
--- a/src/core/thread/energy_scan_server.cpp
+++ b/src/core/thread/energy_scan_server.cpp
@@ -78,9 +78,9 @@ void EnergyScanServer::HandleRequest(Coap::Message &aMessage, const Ip6::Message
 
     VerifyOrExit(aMessage.GetCode() == OT_COAP_CODE_POST, OT_NOOP);
 
-    SuccessOrExit(Tlv::ReadUint8Tlv(aMessage, MeshCoP::Tlv::kCount, count));
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, MeshCoP::Tlv::kPeriod, period));
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, MeshCoP::Tlv::kScanDuration, scanDuration));
+    SuccessOrExit(Tlv::FindUint8Tlv(aMessage, MeshCoP::Tlv::kCount, count));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, MeshCoP::Tlv::kPeriod, period));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, MeshCoP::Tlv::kScanDuration, scanDuration));
 
     VerifyOrExit((mask = MeshCoP::ChannelMaskTlv::GetChannelMask(aMessage)) != 0, OT_NOOP);
 
diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index c6bb1b733..103ecab17 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -1168,7 +1168,7 @@ otError Mle::ReadChallengeOrResponse(const Message &aMessage, uint8_t aTlvType,
     uint16_t offset;
     uint16_t length;
 
-    SuccessOrExit(error = Tlv::GetValueOffset(aMessage, aTlvType, offset, length));
+    SuccessOrExit(error = Tlv::FindTlvValueOffset(aMessage, aTlvType, offset, length));
     VerifyOrExit(length >= kMinChallengeSize, error = OT_ERROR_PARSE);
 
     if (length > kMaxChallengeSize)
@@ -1226,7 +1226,7 @@ otError Mle::ReadLeaderData(const Message &aMessage, LeaderData &aLeaderData)
     otError       error;
     LeaderDataTlv leaderDataTlv;
 
-    SuccessOrExit(error = Tlv::GetTlv(aMessage, Tlv::kLeaderData, sizeof(leaderDataTlv), leaderDataTlv));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, Tlv::kLeaderData, sizeof(leaderDataTlv), leaderDataTlv));
     VerifyOrExit(leaderDataTlv.IsValid(), error = OT_ERROR_PARSE);
     leaderDataTlv.Get(aLeaderData);
 
@@ -1256,13 +1256,13 @@ otError Mle::AppendTlvRequest(Message &aMessage, const uint8_t *aTlvs, uint8_t a
     return Tlv::AppendTlv(aMessage, Tlv::kTlvRequest, aTlvs, aTlvsLength);
 }
 
-otError Mle::ReadTlvRequest(const Message &aMessage, RequestedTlvs &aRequestedTlvs)
+otError Mle::FindTlvRequest(const Message &aMessage, RequestedTlvs &aRequestedTlvs)
 {
     otError  error;
     uint16_t offset;
     uint16_t length;
 
-    SuccessOrExit(error = Tlv::GetValueOffset(aMessage, Tlv::kTlvRequest, offset, length));
+    SuccessOrExit(error = Tlv::FindTlvValueOffset(aMessage, Tlv::kTlvRequest, offset, length));
 
     if (length > sizeof(aRequestedTlvs.mTlvs))
     {
@@ -2860,7 +2860,7 @@ void Mle::HandleAdvertisement(const Message &aMessage, const Ip6::MessageInfo &a
     uint16_t   delay;
 
     // Source Address
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
 
     LogMleMessage("Receive Advertisement", aMessageInfo.GetPeerAddr(), sourceAddress);
 
@@ -2904,7 +2904,7 @@ void Mle::HandleAdvertisement(const Message &aMessage, const Ip6::MessageInfo &a
             {
                 RouteTlv route;
 
-                if ((Tlv::GetTlv(aMessage, Tlv::kRoute, sizeof(route), route) == OT_ERROR_NONE) && route.IsValid())
+                if ((Tlv::FindTlv(aMessage, Tlv::kRoute, sizeof(route), route) == OT_ERROR_NONE) && route.IsValid())
                 {
                     // Overwrite Route Data
                     IgnoreError(Get<MleRouter>().ProcessRouteTlv(route));
@@ -3022,7 +3022,7 @@ otError Mle::HandleLeaderData(const Message &aMessage, const Ip6::MessageInfo &a
     }
 
     // Active Timestamp
-    if (Tlv::GetTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) == OT_ERROR_NONE)
     {
         const MeshCoP::Timestamp *timestamp;
 
@@ -3032,7 +3032,7 @@ otError Mle::HandleLeaderData(const Message &aMessage, const Ip6::MessageInfo &a
         // if received timestamp does not match the local value and message does not contain the dataset,
         // send MLE Data Request
         if ((timestamp == NULL || timestamp->Compare(activeTimestamp) != 0) &&
-            (Tlv::GetOffset(aMessage, Tlv::kActiveDataset, activeDatasetOffset) != OT_ERROR_NONE))
+            (Tlv::FindTlvOffset(aMessage, Tlv::kActiveDataset, activeDatasetOffset) != OT_ERROR_NONE))
         {
             ExitNow(dataRequest = true);
         }
@@ -3043,7 +3043,7 @@ otError Mle::HandleLeaderData(const Message &aMessage, const Ip6::MessageInfo &a
     }
 
     // Pending Timestamp
-    if (Tlv::GetTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
     {
         const MeshCoP::Timestamp *timestamp;
 
@@ -3053,7 +3053,7 @@ otError Mle::HandleLeaderData(const Message &aMessage, const Ip6::MessageInfo &a
         // if received timestamp does not match the local value and message does not contain the dataset,
         // send MLE Data Request
         if ((timestamp == NULL || timestamp->Compare(pendingTimestamp) != 0) &&
-            (Tlv::GetOffset(aMessage, Tlv::kPendingDataset, pendingDatasetOffset) != OT_ERROR_NONE))
+            (Tlv::FindTlvOffset(aMessage, Tlv::kPendingDataset, pendingDatasetOffset) != OT_ERROR_NONE))
         {
             ExitNow(dataRequest = true);
         }
@@ -3063,7 +3063,7 @@ otError Mle::HandleLeaderData(const Message &aMessage, const Ip6::MessageInfo &a
         pendingTimestamp.SetLength(0);
     }
 
-    if (Tlv::GetOffset(aMessage, Tlv::kNetworkData, networkDataOffset) == OT_ERROR_NONE)
+    if (Tlv::FindTlvOffset(aMessage, Tlv::kNetworkData, networkDataOffset) == OT_ERROR_NONE)
     {
         error =
             Get<NetworkData::Leader>().SetNetworkData(leaderData.GetDataVersion(), leaderData.GetStableDataVersion(),
@@ -3224,12 +3224,12 @@ void Mle::HandleParentResponse(const Message &aMessage, const Ip6::MessageInfo &
 #endif
 
     // Source Address
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
 
     LogMleMessage("Receive Parent Response", aMessageInfo.GetPeerAddr(), sourceAddress);
 
     // Version
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kVersion, version));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kVersion, version));
     VerifyOrExit(version >= OT_THREAD_VERSION_1_1, error = OT_ERROR_PARSE);
 
     // Response
@@ -3247,7 +3247,7 @@ void Mle::HandleParentResponse(const Message &aMessage, const Ip6::MessageInfo &
     SuccessOrExit(error = ReadLeaderData(aMessage, leaderData));
 
     // Link Margin
-    SuccessOrExit(error = Tlv::ReadUint8Tlv(aMessage, Tlv::kLinkMargin, linkMarginFromTlv));
+    SuccessOrExit(error = Tlv::FindUint8Tlv(aMessage, Tlv::kLinkMargin, linkMarginFromTlv));
 
     linkMargin = LinkQualityInfo::ConvertRssToLinkMargin(Get<Mac::Mac>().GetNoiseFloor(), linkInfo->mRss);
 
@@ -3259,7 +3259,7 @@ void Mle::HandleParentResponse(const Message &aMessage, const Ip6::MessageInfo &
     linkQuality = LinkQualityInfo::ConvertLinkMarginToLinkQuality(linkMargin);
 
     // Connectivity
-    SuccessOrExit(error = Tlv::GetTlv(aMessage, Tlv::kConnectivity, sizeof(connectivity), connectivity));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, Tlv::kConnectivity, sizeof(connectivity), connectivity));
     VerifyOrExit(connectivity.IsValid(), error = OT_ERROR_PARSE);
 
     // Share data with application, if requested.
@@ -3339,10 +3339,10 @@ void Mle::HandleParentResponse(const Message &aMessage, const Ip6::MessageInfo &
     }
 
     // Link Frame Counter
-    SuccessOrExit(error = Tlv::ReadUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter));
+    SuccessOrExit(error = Tlv::FindUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter));
 
     // Mle Frame Counter
-    switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
+    switch (Tlv::FindUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
     {
     case OT_ERROR_NONE:
         break;
@@ -3356,7 +3356,7 @@ void Mle::HandleParentResponse(const Message &aMessage, const Ip6::MessageInfo &
 #if OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
 
     // Time Parameter
-    if (Tlv::GetTlv(aMessage, Tlv::kTimeParameter, sizeof(timeParameter), timeParameter) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kTimeParameter, sizeof(timeParameter), timeParameter) == OT_ERROR_NONE)
     {
         VerifyOrExit(timeParameter.IsValid(), OT_NOOP);
 
@@ -3427,7 +3427,7 @@ void Mle::HandleChildIdResponse(const Message &         aMessage,
     uint16_t            offset;
 
     // Source Address
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
 
     LogMleMessage("Receive Child ID Response", aMessageInfo.GetPeerAddr(), sourceAddress);
 
@@ -3439,19 +3439,19 @@ void Mle::HandleChildIdResponse(const Message &         aMessage,
     SuccessOrExit(error = ReadLeaderData(aMessage, leaderData));
 
     // ShortAddress
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kAddress16, shortAddress));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kAddress16, shortAddress));
 
     // Network Data
-    error = Tlv::GetOffset(aMessage, Tlv::kNetworkData, networkDataOffset);
+    error = Tlv::FindTlvOffset(aMessage, Tlv::kNetworkData, networkDataOffset);
     SuccessOrExit(error);
 
     // Active Timestamp
-    if (Tlv::GetTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) == OT_ERROR_NONE)
     {
         VerifyOrExit(activeTimestamp.IsValid(), error = OT_ERROR_PARSE);
 
         // Active Dataset
-        if (Tlv::GetOffset(aMessage, Tlv::kActiveDataset, offset) == OT_ERROR_NONE)
+        if (Tlv::FindTlvOffset(aMessage, Tlv::kActiveDataset, offset) == OT_ERROR_NONE)
         {
             aMessage.Read(offset, sizeof(tlv), &tlv);
             IgnoreError(
@@ -3466,12 +3466,12 @@ void Mle::HandleChildIdResponse(const Message &         aMessage,
     }
 
     // Pending Timestamp
-    if (Tlv::GetTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
     {
         VerifyOrExit(pendingTimestamp.IsValid(), error = OT_ERROR_PARSE);
 
         // Pending Dataset
-        if (Tlv::GetOffset(aMessage, Tlv::kPendingDataset, offset) == OT_ERROR_NONE)
+        if (Tlv::FindTlvOffset(aMessage, Tlv::kPendingDataset, offset) == OT_ERROR_NONE)
         {
             aMessage.Read(offset, sizeof(tlv), &tlv);
             IgnoreError(
@@ -3512,7 +3512,7 @@ void Mle::HandleChildIdResponse(const Message &         aMessage,
     {
         RouteTlv route;
 
-        if (Tlv::GetTlv(aMessage, Tlv::kRoute, sizeof(route), route) == OT_ERROR_NONE)
+        if (Tlv::FindTlv(aMessage, Tlv::kRoute, sizeof(route), route) == OT_ERROR_NONE)
         {
             SuccessOrExit(error = Get<MleRouter>().ProcessRouteTlv(route));
         }
@@ -3550,7 +3550,7 @@ void Mle::HandleChildUpdateRequest(const Message &aMessage, const Ip6::MessageIn
     uint8_t       numTlvs                = 0;
 
     // Source Address
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
 
     LogMleMessage("Receive Child Update Request from parent", aMessageInfo.GetPeerAddr(), sourceAddress);
 
@@ -3572,7 +3572,7 @@ void Mle::HandleChildUpdateRequest(const Message &aMessage, const Ip6::MessageIn
     {
         uint8_t status;
 
-        switch (Tlv::ReadUint8Tlv(aMessage, Tlv::kStatus, status))
+        switch (Tlv::FindUint8Tlv(aMessage, Tlv::kStatus, status))
         {
         case OT_ERROR_NONE:
             VerifyOrExit(status != StatusTlv::kError, IgnoreError(BecomeDetached()));
@@ -3599,7 +3599,7 @@ void Mle::HandleChildUpdateRequest(const Message &aMessage, const Ip6::MessageIn
     }
 
     // TLV Request
-    switch (ReadTlvRequest(aMessage, requestedTlvs))
+    switch (FindTlvRequest(aMessage, requestedTlvs))
     {
     case OT_ERROR_NONE:
         for (uint8_t i = 0; i < requestedTlvs.mNumTlvs; i++)
@@ -3661,22 +3661,22 @@ void Mle::HandleChildUpdateResponse(const Message &         aMessage,
     }
 
     // Status
-    if (Tlv::ReadUint8Tlv(aMessage, Tlv::kStatus, status) == OT_ERROR_NONE)
+    if (Tlv::FindUint8Tlv(aMessage, Tlv::kStatus, status) == OT_ERROR_NONE)
     {
         IgnoreError(BecomeDetached());
         ExitNow();
     }
 
     // Mode
-    SuccessOrExit(error = Tlv::ReadUint8Tlv(aMessage, Tlv::kMode, mode));
+    SuccessOrExit(error = Tlv::FindUint8Tlv(aMessage, Tlv::kMode, mode));
     VerifyOrExit(DeviceMode(mode) == mDeviceMode, error = OT_ERROR_DROP);
 
     switch (mRole)
     {
     case kRoleDetached:
-        SuccessOrExit(error = Tlv::ReadUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter));
+        SuccessOrExit(error = Tlv::FindUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter));
 
-        switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
+        switch (Tlv::FindUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
         {
         case OT_ERROR_NONE:
             break;
@@ -3699,7 +3699,7 @@ void Mle::HandleChildUpdateResponse(const Message &         aMessage,
 
     case kRoleChild:
         // Source Address
-        SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
+        SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
 
         if (RouterIdFromRloc16(sourceAddress) != RouterIdFromRloc16(GetRloc16()))
         {
@@ -3711,7 +3711,7 @@ void Mle::HandleChildUpdateResponse(const Message &         aMessage,
         SuccessOrExit(error = HandleLeaderData(aMessage, aMessageInfo));
 
         // Timeout optional
-        switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kTimeout, timeout))
+        switch (Tlv::FindUint32Tlv(aMessage, Tlv::kTimeout, timeout))
         {
         case OT_ERROR_NONE:
             mTimeout = timeout;
@@ -3769,15 +3769,15 @@ void Mle::HandleAnnounce(const Message &aMessage, const Ip6::MessageInfo &aMessa
 
     LogMleMessage("Receive Announce", aMessageInfo.GetPeerAddr());
 
-    SuccessOrExit(error = Tlv::GetTlv(aMessage, Tlv::kChannel, sizeof(channelTlv), channelTlv));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, Tlv::kChannel, sizeof(channelTlv), channelTlv));
     VerifyOrExit(channelTlv.IsValid(), error = OT_ERROR_PARSE);
 
     channel = static_cast<uint8_t>(channelTlv.GetChannel());
 
-    SuccessOrExit(error = Tlv::GetTlv(aMessage, Tlv::kActiveTimestamp, sizeof(timestamp), timestamp));
+    SuccessOrExit(error = Tlv::FindTlv(aMessage, Tlv::kActiveTimestamp, sizeof(timestamp), timestamp));
     VerifyOrExit(timestamp.IsValid(), error = OT_ERROR_PARSE);
 
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kPanId, panId));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kPanId, panId));
 
     localTimestamp = Get<MeshCoP::ActiveDataset>().GetTimestamp();
 
@@ -3871,7 +3871,7 @@ void Mle::HandleDiscoveryResponse(const Message &aMessage, const Ip6::MessageInf
     VerifyOrExit(mDiscoverInProgress, error = OT_ERROR_DROP);
 
     // find MLE Discovery TLV
-    VerifyOrExit(Tlv::GetOffset(aMessage, Tlv::kDiscovery, offset) == OT_ERROR_NONE, error = OT_ERROR_PARSE);
+    VerifyOrExit(Tlv::FindTlvOffset(aMessage, Tlv::kDiscovery, offset) == OT_ERROR_NONE, error = OT_ERROR_PARSE);
     aMessage.Read(offset, sizeof(tlv), &tlv);
 
     offset += sizeof(tlv);
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index 24d155538..98ea3387a 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -1259,7 +1259,7 @@ protected:
      * @retval OT_ERROR_PARSE      TLV was found but could not be parsed.
      *
      */
-    otError ReadTlvRequest(const Message &aMessage, RequestedTlvs &aRequestedTlvs);
+    otError FindTlvRequest(const Message &aMessage, RequestedTlvs &aRequestedTlvs);
 
     /**
      * This method appends a Leader Data TLV to a message.
diff --git a/src/core/thread/mle_router.cpp b/src/core/thread/mle_router.cpp
index cba6f445a..58b2dc2dd 100644
--- a/src/core/thread/mle_router.cpp
+++ b/src/core/thread/mle_router.cpp
@@ -584,7 +584,7 @@ void MleRouter::HandleLinkRequest(const Message &aMessage, const Ip6::MessageInf
     SuccessOrExit(error = ReadChallenge(aMessage, challenge));
 
     // Version
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kVersion, version));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kVersion, version));
     VerifyOrExit(version >= OT_THREAD_VERSION_1_1, error = OT_ERROR_PARSE);
 
     // Leader Data
@@ -600,7 +600,7 @@ void MleRouter::HandleLinkRequest(const Message &aMessage, const Ip6::MessageInf
     }
 
     // Source Address
-    switch (Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress))
+    switch (Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress))
     {
     case OT_ERROR_NONE:
         if (IsActiveRouter(sourceAddress))
@@ -644,7 +644,7 @@ void MleRouter::HandleLinkRequest(const Message &aMessage, const Ip6::MessageInf
     }
 
     // TLV Request
-    switch (ReadTlvRequest(aMessage, requestedTlvs))
+    switch (FindTlvRequest(aMessage, requestedTlvs))
     {
     case OT_ERROR_NONE:
         break;
@@ -658,7 +658,7 @@ void MleRouter::HandleLinkRequest(const Message &aMessage, const Ip6::MessageInf
 #if OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
     if (neighbor != NULL)
     {
-        if (Tlv::GetTlv(aMessage, Tlv::kTimeRequest, sizeof(timeRequest), timeRequest) == OT_ERROR_NONE)
+        if (Tlv::FindTlv(aMessage, Tlv::kTimeRequest, sizeof(timeRequest), timeRequest) == OT_ERROR_NONE)
         {
             neighbor->SetTimeSyncEnabled(true);
         }
@@ -825,7 +825,7 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
     uint8_t                 linkMargin;
 
     // Source Address
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
 
     if (aRequest)
     {
@@ -869,14 +869,14 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
     }
 
     // Version
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kVersion, version));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kVersion, version));
     VerifyOrExit(version >= OT_THREAD_VERSION_1_1, error = OT_ERROR_PARSE);
 
     // Link-Layer Frame Counter
-    SuccessOrExit(error = Tlv::ReadUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter));
+    SuccessOrExit(error = Tlv::FindUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter));
 
     // MLE Frame Counter
-    switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
+    switch (Tlv::FindUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
     {
     case OT_ERROR_NONE:
         break;
@@ -888,7 +888,7 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
     }
 
     // Link Margin
-    switch (Tlv::ReadUint8Tlv(aMessage, Tlv::kLinkMargin, linkMargin))
+    switch (Tlv::FindUint8Tlv(aMessage, Tlv::kLinkMargin, linkMargin))
     {
     case OT_ERROR_NONE:
         break;
@@ -910,7 +910,7 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
 
     case kRoleDetached:
         // Address16
-        SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kAddress16, address16));
+        SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kAddress16, address16));
         VerifyOrExit(GetRloc16() == address16, error = OT_ERROR_DROP);
 
         // Leader Data
@@ -918,7 +918,7 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
         SetLeaderData(leaderData.GetPartitionId(), leaderData.GetWeighting(), leaderData.GetLeaderRouterId());
 
         // Route
-        SuccessOrExit(error = Tlv::GetTlv(aMessage, Tlv::kRoute, sizeof(route), route));
+        SuccessOrExit(error = Tlv::FindTlv(aMessage, Tlv::kRoute, sizeof(route), route));
         VerifyOrExit(route.IsValid(), error = OT_ERROR_PARSE);
         mRouterTable.Clear();
         SuccessOrExit(error = ProcessRouteTlv(route));
@@ -961,7 +961,7 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
         }
 
         // Route (optional)
-        if (Tlv::GetTlv(aMessage, Tlv::kRoute, sizeof(route), route) == OT_ERROR_NONE)
+        if (Tlv::FindTlv(aMessage, Tlv::kRoute, sizeof(route), route) == OT_ERROR_NONE)
         {
             VerifyOrExit(route.IsValid(), error = OT_ERROR_PARSE);
             SuccessOrExit(error = ProcessRouteTlv(route));
@@ -1004,7 +1004,7 @@ otError MleRouter::HandleLinkAccept(const Message &         aMessage,
         SuccessOrExit(error = ReadChallenge(aMessage, challenge));
 
         // TLV Request
-        switch (ReadTlvRequest(aMessage, requestedTlvs))
+        switch (FindTlvRequest(aMessage, requestedTlvs))
         {
         case OT_ERROR_NONE:
             break;
@@ -1177,13 +1177,13 @@ otError MleRouter::HandleAdvertisement(const Message &         aMessage,
     aMessageInfo.GetPeerAddr().ToExtAddress(macAddr);
 
     // Source Address
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress));
 
     // Leader Data
     SuccessOrExit(error = ReadLeaderData(aMessage, leaderData));
 
     // Route Data (optional)
-    if (Tlv::GetTlv(aMessage, Tlv::kRoute, sizeof(route), route) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kRoute, sizeof(route), route) == OT_ERROR_NONE)
     {
         VerifyOrExit(route.IsValid(), error = OT_ERROR_PARSE);
     }
@@ -1632,11 +1632,11 @@ void MleRouter::HandleParentRequest(const Message &aMessage, const Ip6::MessageI
     aMessageInfo.GetPeerAddr().ToExtAddress(macAddr);
 
     // Version
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kVersion, version));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kVersion, version));
     VerifyOrExit(version >= OT_THREAD_VERSION_1_1, error = OT_ERROR_PARSE);
 
     // Scan Mask
-    SuccessOrExit(error = Tlv::ReadUint8Tlv(aMessage, Tlv::kScanMask, scanMask));
+    SuccessOrExit(error = Tlv::FindUint8Tlv(aMessage, Tlv::kScanMask, scanMask));
 
     switch (mRole)
     {
@@ -1670,7 +1670,7 @@ void MleRouter::HandleParentRequest(const Message &aMessage, const Ip6::MessageI
         child->ResetLinkFailures();
         child->SetState(Neighbor::kStateParentRequest);
 #if OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
-        if (Tlv::GetTlv(aMessage, Tlv::kTimeRequest, sizeof(timeRequest), timeRequest) == OT_ERROR_NONE)
+        if (Tlv::FindTlv(aMessage, Tlv::kTimeRequest, sizeof(timeRequest), timeRequest) == OT_ERROR_NONE)
         {
             child->SetTimeSyncEnabled(true);
         }
@@ -2176,7 +2176,7 @@ void MleRouter::HandleChildIdRequest(const Message &         aMessage,
     VerifyOrExit(child != NULL, error = OT_ERROR_ALREADY);
 
     // Version
-    SuccessOrExit(error = Tlv::ReadUint16Tlv(aMessage, Tlv::kVersion, version));
+    SuccessOrExit(error = Tlv::FindUint16Tlv(aMessage, Tlv::kVersion, version));
     VerifyOrExit(version >= OT_THREAD_VERSION_1_1, error = OT_ERROR_PARSE);
 
     // Response
@@ -2190,10 +2190,10 @@ void MleRouter::HandleChildIdRequest(const Message &         aMessage,
     Get<MeshForwarder>().RemoveMessages(*child, Message::kSubTypeMleDataResponse);
 
     // Link-Layer Frame Counter
-    SuccessOrExit(error = Tlv::ReadUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter));
+    SuccessOrExit(error = Tlv::FindUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter));
 
     // MLE Frame Counter
-    switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
+    switch (Tlv::FindUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
     {
     case OT_ERROR_NONE:
         break;
@@ -2205,20 +2205,20 @@ void MleRouter::HandleChildIdRequest(const Message &         aMessage,
     }
 
     // Mode
-    SuccessOrExit(error = Tlv::ReadUint8Tlv(aMessage, Tlv::kMode, modeBitmask));
+    SuccessOrExit(error = Tlv::FindUint8Tlv(aMessage, Tlv::kMode, modeBitmask));
     mode.Set(modeBitmask);
 
     // Timeout
-    SuccessOrExit(error = Tlv::ReadUint32Tlv(aMessage, Tlv::kTimeout, timeout));
+    SuccessOrExit(error = Tlv::FindUint32Tlv(aMessage, Tlv::kTimeout, timeout));
 
     // TLV Request
-    SuccessOrExit(error = ReadTlvRequest(aMessage, requestedTlvs));
+    SuccessOrExit(error = FindTlvRequest(aMessage, requestedTlvs));
     VerifyOrExit(requestedTlvs.mNumTlvs <= Child::kMaxRequestTlvs, error = OT_ERROR_PARSE);
 
     // Active Timestamp
     activeTimestamp.SetLength(0);
 
-    if (Tlv::GetTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) == OT_ERROR_NONE)
     {
         VerifyOrExit(activeTimestamp.IsValid(), error = OT_ERROR_PARSE);
     }
@@ -2226,14 +2226,14 @@ void MleRouter::HandleChildIdRequest(const Message &         aMessage,
     // Pending Timestamp
     pendingTimestamp.SetLength(0);
 
-    if (Tlv::GetTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
     {
         VerifyOrExit(pendingTimestamp.IsValid(), error = OT_ERROR_PARSE);
     }
 
     if (!mode.IsFullThreadDevice())
     {
-        SuccessOrExit(error = Tlv::GetOffset(aMessage, Tlv::kAddressRegistration, addressRegistrationOffset));
+        SuccessOrExit(error = Tlv::FindTlvOffset(aMessage, Tlv::kAddressRegistration, addressRegistrationOffset));
         SuccessOrExit(error = UpdateChildAddresses(aMessage, addressRegistrationOffset, *child));
     }
 
@@ -2339,7 +2339,7 @@ void MleRouter::HandleChildUpdateRequest(const Message &         aMessage,
     LogMleMessage("Receive Child Update Request from child", aMessageInfo.GetPeerAddr());
 
     // Mode
-    SuccessOrExit(error = Tlv::ReadUint8Tlv(aMessage, Tlv::kMode, modeBitmask));
+    SuccessOrExit(error = Tlv::FindUint8Tlv(aMessage, Tlv::kMode, modeBitmask));
     mode.Set(modeBitmask);
 
     // Challenge
@@ -2390,7 +2390,7 @@ void MleRouter::HandleChildUpdateRequest(const Message &         aMessage,
     }
 
     // Ip6 Address TLV
-    if (Tlv::GetOffset(aMessage, Tlv::kAddressRegistration, addressRegistrationOffset) == OT_ERROR_NONE)
+    if (Tlv::FindTlvOffset(aMessage, Tlv::kAddressRegistration, addressRegistrationOffset) == OT_ERROR_NONE)
     {
         SuccessOrExit(error = UpdateChildAddresses(aMessage, addressRegistrationOffset, *child));
         tlvs[tlvslength++] = Tlv::kAddressRegistration;
@@ -2407,7 +2407,7 @@ void MleRouter::HandleChildUpdateRequest(const Message &         aMessage,
     }
 
     // Timeout
-    switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kTimeout, timeout))
+    switch (Tlv::FindUint32Tlv(aMessage, Tlv::kTimeout, timeout))
     {
     case OT_ERROR_NONE:
         if (child->GetTimeout() != timeout)
@@ -2427,7 +2427,7 @@ void MleRouter::HandleChildUpdateRequest(const Message &         aMessage,
     }
 
     // TLV Request
-    switch (ReadTlvRequest(aMessage, requestedTlvs))
+    switch (FindTlvRequest(aMessage, requestedTlvs))
     {
     case OT_ERROR_NONE:
         VerifyOrExit(requestedTlvs.mNumTlvs <= (kMaxResponseTlvs - tlvslength), error = OT_ERROR_PARSE);
@@ -2527,7 +2527,7 @@ void MleRouter::HandleChildUpdateResponse(const Message &         aMessage,
     LogMleMessage("Receive Child Update Response from child", aMessageInfo.GetPeerAddr(), child->GetRloc16());
 
     // Source Address
-    switch (Tlv::ReadUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress))
+    switch (Tlv::FindUint16Tlv(aMessage, Tlv::kSourceAddress, sourceAddress))
     {
     case OT_ERROR_NONE:
         if (child->GetRloc16() != sourceAddress)
@@ -2546,7 +2546,7 @@ void MleRouter::HandleChildUpdateResponse(const Message &         aMessage,
     }
 
     // Status
-    switch (Tlv::ReadUint8Tlv(aMessage, Tlv::kStatus, status))
+    switch (Tlv::FindUint8Tlv(aMessage, Tlv::kStatus, status))
     {
     case OT_ERROR_NONE:
         VerifyOrExit(status != StatusTlv::kError, RemoveNeighbor(*child));
@@ -2559,7 +2559,7 @@ void MleRouter::HandleChildUpdateResponse(const Message &         aMessage,
 
     // Link-Layer Frame Counter
 
-    switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter))
+    switch (Tlv::FindUint32Tlv(aMessage, Tlv::kLinkFrameCounter, linkFrameCounter))
     {
     case OT_ERROR_NONE:
         child->SetLinkFrameCounter(linkFrameCounter);
@@ -2571,7 +2571,7 @@ void MleRouter::HandleChildUpdateResponse(const Message &         aMessage,
     }
 
     // MLE Frame Counter
-    switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
+    switch (Tlv::FindUint32Tlv(aMessage, Tlv::kMleFrameCounter, mleFrameCounter))
     {
     case OT_ERROR_NONE:
         child->SetMleFrameCounter(mleFrameCounter);
@@ -2583,7 +2583,7 @@ void MleRouter::HandleChildUpdateResponse(const Message &         aMessage,
     }
 
     // Timeout
-    switch (Tlv::ReadUint32Tlv(aMessage, Tlv::kTimeout, timeout))
+    switch (Tlv::FindUint32Tlv(aMessage, Tlv::kTimeout, timeout))
     {
     case OT_ERROR_NONE:
         child->SetTimeout(timeout);
@@ -2595,7 +2595,7 @@ void MleRouter::HandleChildUpdateResponse(const Message &         aMessage,
     }
 
     // Ip6 Address
-    if (Tlv::GetOffset(aMessage, Tlv::kAddressRegistration, addressRegistrationOffset) == OT_ERROR_NONE)
+    if (Tlv::FindTlvOffset(aMessage, Tlv::kAddressRegistration, addressRegistrationOffset) == OT_ERROR_NONE)
     {
         SuccessOrExit(error = UpdateChildAddresses(aMessage, addressRegistrationOffset, *child));
     }
@@ -2648,13 +2648,13 @@ void MleRouter::HandleDataRequest(const Message &         aMessage,
     VerifyOrExit(aNeighbor && aNeighbor->IsStateValid(), error = OT_ERROR_SECURITY);
 
     // TLV Request
-    SuccessOrExit(error = ReadTlvRequest(aMessage, requestedTlvs));
+    SuccessOrExit(error = FindTlvRequest(aMessage, requestedTlvs));
     VerifyOrExit(requestedTlvs.mNumTlvs <= sizeof(tlvs), error = OT_ERROR_PARSE);
 
     // Active Timestamp
     activeTimestamp.SetLength(0);
 
-    if (Tlv::GetTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kActiveTimestamp, sizeof(activeTimestamp), activeTimestamp) == OT_ERROR_NONE)
     {
         VerifyOrExit(activeTimestamp.IsValid(), error = OT_ERROR_PARSE);
     }
@@ -2662,7 +2662,7 @@ void MleRouter::HandleDataRequest(const Message &         aMessage,
     // Pending Timestamp
     pendingTimestamp.SetLength(0);
 
-    if (Tlv::GetTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
+    if (Tlv::FindTlv(aMessage, Tlv::kPendingTimestamp, sizeof(pendingTimestamp), pendingTimestamp) == OT_ERROR_NONE)
     {
         VerifyOrExit(pendingTimestamp.IsValid(), error = OT_ERROR_PARSE);
     }
@@ -2795,7 +2795,7 @@ void MleRouter::HandleDiscoveryRequest(const Message &aMessage, const Ip6::Messa
     VerifyOrExit(IsRouterEligible(), error = OT_ERROR_INVALID_STATE);
 
     // find MLE Discovery TLV
-    VerifyOrExit(Tlv::GetOffset(aMessage, Tlv::kDiscovery, offset) == OT_ERROR_NONE, error = OT_ERROR_PARSE);
+    VerifyOrExit(Tlv::FindTlvOffset(aMessage, Tlv::kDiscovery, offset) == OT_ERROR_NONE, error = OT_ERROR_PARSE);
     aMessage.Read(offset, sizeof(tlv), &tlv);
 
     offset += sizeof(tlv);
@@ -4043,7 +4043,7 @@ void MleRouter::HandleAddressSolicitResponse(Coap::Message *         aMessage,
 
     LogMleMessage("Receive Address Reply", aMessageInfo->GetPeerAddr());
 
-    SuccessOrExit(Tlv::ReadUint8Tlv(*aMessage, ThreadTlv::kStatus, status));
+    SuccessOrExit(Tlv::FindUint8Tlv(*aMessage, ThreadTlv::kStatus, status));
 
     if (status != ThreadStatusTlv::kSuccess)
     {
@@ -4062,10 +4062,10 @@ void MleRouter::HandleAddressSolicitResponse(Coap::Message *         aMessage,
         ExitNow();
     }
 
-    SuccessOrExit(Tlv::ReadUint16Tlv(*aMessage, ThreadTlv::kRloc16, rloc16));
+    SuccessOrExit(Tlv::FindUint16Tlv(*aMessage, ThreadTlv::kRloc16, rloc16));
     routerId = RouterIdFromRloc16(rloc16);
 
-    SuccessOrExit(ThreadTlv::GetTlv(*aMessage, ThreadTlv::kRouterMask, sizeof(routerMaskTlv), routerMaskTlv));
+    SuccessOrExit(ThreadTlv::FindTlv(*aMessage, ThreadTlv::kRouterMask, sizeof(routerMaskTlv), routerMaskTlv));
     VerifyOrExit(routerMaskTlv.IsValid(), OT_NOOP);
 
     // assign short address
@@ -4142,13 +4142,13 @@ void MleRouter::HandleAddressSolicit(Coap::Message &aMessage, const Ip6::Message
 
     LogMleMessage("Receive Address Solicit", aMessageInfo.GetPeerAddr());
 
-    SuccessOrExit(error = Tlv::ReadTlv(aMessage, ThreadTlv::kExtMacAddress, &extAddress, sizeof(extAddress)));
+    SuccessOrExit(error = ThreadTlv::FindTlv(aMessage, ThreadTlv::kExtMacAddress, &extAddress, sizeof(extAddress)));
 
-    SuccessOrExit(error = Tlv::ReadUint8Tlv(aMessage, ThreadTlv::kStatus, status));
+    SuccessOrExit(error = Tlv::FindUint8Tlv(aMessage, ThreadTlv::kStatus, status));
 
 #if OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
     // In a time sync enabled network, all routers' xtal accuracy must be less than the threshold.
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, Tlv::kXtalAccuracy, xtalAccuracy));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, Tlv::kXtalAccuracy, xtalAccuracy));
     VerifyOrExit(xtalAccuracy <= Get<TimeSync>().GetXtalThreshold(), OT_NOOP);
 #endif
 
@@ -4176,7 +4176,7 @@ void MleRouter::HandleAddressSolicit(Coap::Message &aMessage, const Ip6::Message
         OT_UNREACHABLE_CODE(break);
     }
 
-    switch (Tlv::ReadUint16Tlv(aMessage, ThreadTlv::kRloc16, rloc16))
+    switch (Tlv::FindUint16Tlv(aMessage, ThreadTlv::kRloc16, rloc16))
     {
     case OT_ERROR_NONE:
         router = mRouterTable.Allocate(RouterIdFromRloc16(rloc16));
@@ -4271,9 +4271,9 @@ void MleRouter::HandleAddressRelease(Coap::Message &aMessage, const Ip6::Message
 
     LogMleMessage("Receive Address Release", aMessageInfo.GetPeerAddr());
 
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, ThreadTlv::kRloc16, rloc16));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, ThreadTlv::kRloc16, rloc16));
 
-    SuccessOrExit(Tlv::ReadTlv(aMessage, ThreadTlv::kExtMacAddress, &extAddress, sizeof(extAddress)));
+    SuccessOrExit(Tlv::FindTlv(aMessage, ThreadTlv::kExtMacAddress, &extAddress, sizeof(extAddress)));
 
     routerId = RouterIdFromRloc16(rloc16);
     router   = mRouterTable.GetRouter(routerId);
diff --git a/src/core/thread/mle_tlvs.hpp b/src/core/thread/mle_tlvs.hpp
index e4fe9db50..b2aae4e75 100644
--- a/src/core/thread/mle_tlvs.hpp
+++ b/src/core/thread/mle_tlvs.hpp
@@ -134,39 +134,6 @@ public:
      */
     void SetType(Type aType) { ot::Tlv::SetType(static_cast<uint8_t>(aType)); }
 
-    /**
-     * This static method reads the requested TLV out of @p aMessage.
-     *
-     * @param[in]   aMessage    A reference to the message.
-     * @param[in]   aType       The Type value to search for.
-     * @param[in]   aMaxLength  Maximum number of bytes to read.
-     * @param[out]  aTlv        A reference to the TLV that will be copied to.
-     *
-     * @retval OT_ERROR_NONE       Successfully copied the TLV.
-     * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
-     *
-     */
-    static otError GetTlv(const Message &aMessage, Type aType, uint16_t aMaxLength, Tlv &aTlv)
-    {
-        return ot::Tlv::Get(aMessage, static_cast<uint8_t>(aType), aMaxLength, aTlv);
-    }
-
-    /**
-     * This static method obtains the offset of a TLV within @p aMessage.
-     *
-     * @param[in]   aMessage    A reference to the message.
-     * @param[in]   aType       The Type value to search for.
-     * @param[out]  aOffset     A reference to the offset of the TLV.
-     *
-     * @retval OT_ERROR_NONE       Successfully copied the TLV.
-     * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
-     *
-     */
-    static otError GetOffset(const Message &aMessage, Type aType, uint16_t &aOffset)
-    {
-        return ot::Tlv::GetOffset(aMessage, static_cast<uint8_t>(aType), aOffset);
-    }
-
 } OT_TOOL_PACKED_END;
 
 #if !OPENTHREAD_CONFIG_MLE_LONG_ROUTES_ENABLE
diff --git a/src/core/thread/network_data_leader_ftd.cpp b/src/core/thread/network_data_leader_ftd.cpp
index b9a4a7b0c..b66d4ebe9 100644
--- a/src/core/thread/network_data_leader_ftd.cpp
+++ b/src/core/thread/network_data_leader_ftd.cpp
@@ -146,7 +146,7 @@ void Leader::HandleServerData(Coap::Message &aMessage, const Ip6::MessageInfo &a
 
     VerifyOrExit(aMessageInfo.GetPeerAddr().IsIidRoutingLocator(), OT_NOOP);
 
-    switch (Tlv::ReadUint16Tlv(aMessage, ThreadTlv::kRloc16, rloc16))
+    switch (Tlv::FindUint16Tlv(aMessage, ThreadTlv::kRloc16, rloc16))
     {
     case OT_ERROR_NONE:
         RemoveBorderRouter(rloc16, kMatchModeRloc16);
@@ -157,7 +157,7 @@ void Leader::HandleServerData(Coap::Message &aMessage, const Ip6::MessageInfo &a
         ExitNow();
     }
 
-    if (ThreadTlv::GetTlv(aMessage, ThreadTlv::kThreadNetworkData, sizeof(networkData), networkData) == OT_ERROR_NONE)
+    if (ThreadTlv::FindTlv(aMessage, ThreadTlv::kThreadNetworkData, sizeof(networkData), networkData) == OT_ERROR_NONE)
     {
         VerifyOrExit(networkData.IsValid(), OT_NOOP);
         RegisterNetworkData(aMessageInfo.GetPeerAddr().GetLocator(), networkData.GetTlvs(), networkData.GetLength());
@@ -287,7 +287,7 @@ void Leader::HandleCommissioningGet(Coap::Message &aMessage, const Ip6::MessageI
     uint16_t length = 0;
     uint16_t offset;
 
-    SuccessOrExit(Tlv::GetValueOffset(aMessage, MeshCoP::Tlv::kGet, offset, length));
+    SuccessOrExit(Tlv::FindTlvValueOffset(aMessage, MeshCoP::Tlv::kGet, offset, length));
     aMessage.SetOffset(offset);
 
 exit:
diff --git a/src/core/thread/network_diagnostic_tlvs.hpp b/src/core/thread/network_diagnostic_tlvs.hpp
index 7489b1e6d..7a32704df 100644
--- a/src/core/thread/network_diagnostic_tlvs.hpp
+++ b/src/core/thread/network_diagnostic_tlvs.hpp
@@ -116,39 +116,6 @@ public:
      */
     void SetType(Type aType) { ot::Tlv::SetType(static_cast<uint8_t>(aType)); }
 
-    /**
-     * This static method reads the requested TLV out of @p aMessage.
-     *
-     * @param[in]   aMessage    A reference to the message.
-     * @param[in]   aType       The Type value to search for.
-     * @param[in]   aMaxLength  Maximum number of bytes to read.
-     * @param[out]  aTlv        A reference to the TLV that will be copied to.
-     *
-     * @retval OT_ERROR_NONE       Successfully copied the TLV.
-     * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
-     *
-     */
-    static otError GetTlv(const Message &aMessage, Type aType, uint16_t aMaxLength, Tlv &aTlv)
-    {
-        return ot::Tlv::Get(aMessage, static_cast<uint8_t>(aType), aMaxLength, aTlv);
-    }
-
-    /**
-     * This static method obtains the offset of a TLV within @p aMessage.
-     *
-     * @param[in]   aMessage    A reference to the message.
-     * @param[in]   aType       The Type value to search for.
-     * @param[out]  aOffset     A reference to the offset of the TLV.
-     *
-     * @retval OT_ERROR_NONE       Successfully copied the TLV.
-     * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
-     *
-     */
-    static otError GetOffset(const Message &aMessage, Type aType, uint16_t &aOffset)
-    {
-        return ot::Tlv::GetOffset(aMessage, static_cast<uint8_t>(aType), aOffset);
-    }
-
 } OT_TOOL_PACKED_END;
 
 /**
diff --git a/src/core/thread/panid_query_server.cpp b/src/core/thread/panid_query_server.cpp
index 55062e9b8..1215a261c 100644
--- a/src/core/thread/panid_query_server.cpp
+++ b/src/core/thread/panid_query_server.cpp
@@ -71,7 +71,7 @@ void PanIdQueryServer::HandleQuery(Coap::Message &aMessage, const Ip6::MessageIn
     VerifyOrExit(aMessage.GetCode() == OT_COAP_CODE_POST, OT_NOOP);
     VerifyOrExit((mask = MeshCoP::ChannelMaskTlv::GetChannelMask(aMessage)) != 0, OT_NOOP);
 
-    SuccessOrExit(Tlv::ReadUint16Tlv(aMessage, MeshCoP::Tlv::kPanId, panId));
+    SuccessOrExit(Tlv::FindUint16Tlv(aMessage, MeshCoP::Tlv::kPanId, panId));
 
     mChannelMask  = mask;
     mCommissioner = aMessageInfo.GetPeerAddr();
diff --git a/src/core/thread/thread_tlvs.hpp b/src/core/thread/thread_tlvs.hpp
index 47f6cf338..e3de8ed35 100644
--- a/src/core/thread/thread_tlvs.hpp
+++ b/src/core/thread/thread_tlvs.hpp
@@ -95,23 +95,6 @@ public:
      */
     void SetType(Type aType) { ot::Tlv::SetType(static_cast<uint8_t>(aType)); }
 
-    /**
-     * This static method reads the requested TLV out of @p aMessage.
-     *
-     * @param[in]   aMessage    A reference to the message.
-     * @param[in]   aType       The Type value to search for.
-     * @param[in]   aMaxLength  Maximum number of bytes to read.
-     * @param[out]  aTlv        A reference to the TLV that will be copied to.
-     *
-     * @retval OT_ERROR_NONE       Successfully copied the TLV.
-     * @retval OT_ERROR_NOT_FOUND  Could not find the TLV with Type @p aType.
-     *
-     */
-    static otError GetTlv(const Message &aMessage, Type aType, uint16_t aMaxLength, Tlv &aTlv)
-    {
-        return ot::Tlv::Get(aMessage, static_cast<uint8_t>(aType), aMaxLength, aTlv);
-    }
-
 } OT_TOOL_PACKED_END;
 
 /**