diff --git a/src/core/backbone_router/bbr_manager.cpp b/src/core/backbone_router/bbr_manager.cpp
index 791286c6a..025a9c58a 100644
--- a/src/core/backbone_router/bbr_manager.cpp
+++ b/src/core/backbone_router/bbr_manager.cpp
@@ -420,7 +420,7 @@ exit:
 #if OPENTHREAD_CONFIG_REFERENCE_DEVICE_ENABLE
         if (duaRespCoapCode != Coap::kCodeEmpty)
         {
-            IgnoreError(Get<Tmf::Agent>().SendEmptyAck(aMsg, duaRespCoapCode));
+            IgnoreError(Get<Tmf::Agent>().SendAckResponse(aMsg, duaRespCoapCode));
         }
         else
 #endif
@@ -599,7 +599,7 @@ template <> void Manager::HandleTmf<kUriBackboneAnswer>(Coap::Msg &aMsg)
         HandleExtendedBackboneAnswer(dua, meshLocalIid, timeSinceLastTransaction, srcRloc16);
     }
 
-    SuccessOrExit(error = mBackboneTmfAgent.SendEmptyAck(aMsg));
+    SuccessOrExit(error = mBackboneTmfAgent.SendAckResponse(aMsg));
 
 exit:
     LogInfo("HandleBackboneAnswer: %s", ErrorToString(error));
diff --git a/src/core/coap/coap.cpp b/src/core/coap/coap.cpp
index 935bc95d5..fe6fcec03 100644
--- a/src/core/coap/coap.cpp
+++ b/src/core/coap/coap.cpp
@@ -416,25 +416,36 @@ Error CoapBase::SendMessageWithResponseHandlerSeparateParams(Message
     return SendMessage(aMessage, aMessageInfo, aTxParameters, callbacks);
 }
 
-Error CoapBase::SendReset(const Msg &aRxMsg) { return SendEmptyMessage(kTypeReset, aRxMsg); }
-
-Error CoapBase::SendAck(const Msg &aRxMsg) { return SendEmptyMessage(kTypeAck, aRxMsg); }
-
-Error CoapBase::SendEmptyAck(const Msg &aRxMsg, Code aCode)
+Error CoapBase::SendAckResponse(const Msg &aRxMsg, Code aCode)
 {
-    return (aRxMsg.IsConfirmable() ? SendHeaderResponse(aCode, aRxMsg) : kErrorInvalidArgs);
+    return (aRxMsg.IsConfirmable() ? SendResponse(aCode, aRxMsg) : kErrorInvalidArgs);
 }
 
-Error CoapBase::SendEmptyAck(const Msg &aRxMsg) { return SendEmptyAck(aRxMsg, kCodeChanged); }
-
-Error CoapBase::SendNotFound(const Msg &aRxMsg) { return SendHeaderResponse(kCodeNotFound, aRxMsg); }
+Error CoapBase::SendAckResponse(const Msg &aRxMsg) { return SendAckResponse(aRxMsg, kCodeChanged); }
 
 Error CoapBase::SendEmptyMessage(Type aType, const Msg &aRxMsg)
 {
     Error    error   = kErrorNone;
     Message *message = nullptr;
 
-    VerifyOrExit(aRxMsg.IsConfirmable(), error = kErrorInvalidArgs);
+    switch (aType)
+    {
+    case kTypeConfirmable:
+        // An empty confirmable message is not used in normal
+        // operation but only to elicit a Reset response. This is
+        // used as "CoAP ping" (RFC 7573 section 4.3).
+        break;
+
+    case kTypeAck:
+        VerifyOrExit(aRxMsg.IsConfirmable(), error = kErrorInvalidArgs);
+        break;
+
+    case kTypeReset:
+        break;
+
+    case kTypeNonConfirmable:
+        ExitNow(error = kErrorInvalidArgs);
+    }
 
     VerifyOrExit((message = NewMessage()) != nullptr, error = kErrorNoBufs);
 
@@ -446,7 +457,7 @@ exit:
     return error;
 }
 
-Error CoapBase::SendHeaderResponse(Message::Code aCode, const Msg &aRxMsg)
+Error CoapBase::SendResponse(Message::Code aCode, const Msg &aRxMsg)
 {
     Error    error   = kErrorNone;
     Message *message = nullptr;
@@ -503,7 +514,7 @@ void CoapBase::Receive(ot::Message &aMessage, const Ip6::MessageInfo &aMessageIn
 
         if (!aMessageInfo.GetSockAddr().IsMulticast() && rxMsg.IsConfirmable())
         {
-            IgnoreError(SendReset(rxMsg));
+            IgnoreError(SendEmptyMessage(kTypeReset, rxMsg));
         }
     }
     else if (rxMsg.IsRequest())
@@ -538,7 +549,8 @@ void CoapBase::ProcessReceivedResponse(Msg &aRxMsg)
         {
             // Successfully parsed a header but no matching request was
             // found - reject the message by sending reset.
-            IgnoreError(SendReset(aRxMsg));
+
+            IgnoreError(SendEmptyMessage(kTypeReset, aRxMsg));
         }
 
         ExitNow();
@@ -633,8 +645,8 @@ void CoapBase::ProcessReceivedResponse(Msg &aRxMsg)
         break;
 
     case kTypeConfirmable:
-        // Send empty ACK if it is a CON message.
-        IgnoreError(SendAck(aRxMsg));
+        // Received a confirmable response, send an Empty Ack message.
+        IgnoreError(SendEmptyMessage(kTypeAck, aRxMsg));
 
         // Handling of RFC7641 and multicast is below.
 
@@ -758,7 +770,7 @@ exit:
 
     if (error == kErrorNotFound && !aRxMsg.mMessageInfo.GetSockAddr().IsMulticast())
     {
-        IgnoreError(SendNotFound(aRxMsg));
+        IgnoreError(SendResponse(kCodeNotFound, aRxMsg));
     }
 }
 
@@ -962,15 +974,15 @@ Error CoapBase::ProcessBlockwiseRequest(Msg &aRxMsg, const Message::UriPathStrin
                         error = kErrorNone;
                         break;
                     case kErrorNoBufs:
-                        IgnoreError(SendHeaderResponse(kCodeRequestTooLarge, aRxMsg));
+                        IgnoreError(SendResponse(kCodeRequestTooLarge, aRxMsg));
                         error = kErrorDrop;
                         break;
                     case kErrorNoFrameReceived:
-                        IgnoreError(SendHeaderResponse(kCodeRequestIncomplete, aRxMsg));
+                        IgnoreError(SendResponse(kCodeRequestIncomplete, aRxMsg));
                         error = kErrorDrop;
                         break;
                     default:
-                        IgnoreError(SendHeaderResponse(kCodeInternalError, aRxMsg));
+                        IgnoreError(SendResponse(kCodeInternalError, aRxMsg));
                         error = kErrorDrop;
                         break;
                     }
@@ -981,7 +993,7 @@ Error CoapBase::ProcessBlockwiseRequest(Msg &aRxMsg, const Message::UriPathStrin
                 {
                     if ((error = ProcessBlock2Request(aRxMsg, resource)) != kErrorNone)
                     {
-                        IgnoreError(SendHeaderResponse(kCodeInternalError, aRxMsg));
+                        IgnoreError(SendResponse(kCodeInternalError, aRxMsg));
                         error = kErrorDrop;
                     }
                 }
diff --git a/src/core/coap/coap.hpp b/src/core/coap/coap.hpp
index 02bb379e0..7501913af 100644
--- a/src/core/coap/coap.hpp
+++ b/src/core/coap/coap.hpp
@@ -591,71 +591,64 @@ public:
     Error SendMessage(OwnedPtr<Message> aMessage, const Ip6::MessageInfo &aMessageInfo);
 
     /**
-     * Sends a CoAP reset message.
+     * Sends an empty CoAP message (using `kCodeEmpty` Code 0.00).
+     *
+     * An empty CoAP message has no options and no payload (only a 4-byte header). This is typically used for sending
+     * Empty Acknowledgments or Resets.
+     *
+     * @param[in]  aType           The CoAP Type of the empty message (e.g., `kTypeAck`, `kTypeReset`).
+     * @param[in]  aRxMsg          The received CoAP message to which this message responds (provides Message ID).
+     *
+     * @retval kErrorNone          Successfully enqueued the CoAP message.
+     * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP message.
+     * @retval kErrorInvalidArgs   The @p aType is not valid for an empty message (e.g., `kTypeNonConfirmable`),
+     *                             or is `kTypeAck` but the @p aRxMsg is not confirmable.
+     */
+    Error SendEmptyMessage(Type aType, const Msg &aRxMsg);
+
+    /**
+     * Sends a CoAP response message without a payload to a given request message.
+     *
+     * The response will dynamically be an ACK (`kTypeAck`) or NON (`kTypeNonConfirmable`) message depending on the
+     * request @p aRxMsg type, containing the specified response code @p aCode and matching token, without any payload.
+     *
+     * @param[in]  aCode           The CoAP response Code.
+     * @param[in]  aRxMsg          The received CoAP request message.
+     *
+     * @retval kErrorNone          Successfully enqueued the CoAP response message.
+     * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
+     * @retval kErrorInvalidArgs   The @p aRxMsg is not a request, or is neither confirmable nor non-confirmable.
+     */
+    Error SendResponse(Message::Code aCode, const Msg &aRxMsg);
+
+    /**
+     * Sends a CoAP ACK (`kTypeAck`) response without a payload and a given status code.
+     *
+     * This method strictly ensures the @p aRxMsg is a confirmable request message. It then sends a piggybacked
+     * ACK (`kTypeAck`) response containing the provided CoAP @p aCode and matching token without a payload.
+     *
+     * @param[in]  aRxMsg          The received CoAP request message.
+     * @param[in]  aCode           The CoAP Code of the ACK response.
+     *
+     * @retval kErrorNone          Successfully enqueued the CoAP response message.
+     * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
+     * @retval kErrorInvalidArgs   The @p aRxMsg is not a confirmable request.
+     */
+    Error SendAckResponse(const Msg &aRxMsg, Code aCode);
+
+    /**
+     * Sends a CoAP ACK response without a payload using `kCodeChanged` Code 2.04.
+     *
+     * This method strictly ensures the @p aRxMsg is a confirmable request message. It then sends a piggybacked
+     * ACK (`kTypeAck`) response containing `kCodeChanged` and matching token without a payload.
      *
      * @param[in]  aRxMsg          The received CoAP request message.
      *
      * @retval kErrorNone          Successfully enqueued the CoAP response message.
      * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
-     * @retval kErrorInvalidArgs   The @p aRxMsg is not of confirmable type.
+     * @retval kErrorInvalidArgs   The @p aRxMsg is not a confirmable request.
      */
-    Error SendReset(const Msg &aRxMsg);
-
-    /**
-     * Sends header-only CoAP response message.
-     *
-     * @param[in]  aCode           The CoAP code of this response.
-     * @param[in]  aRxMsg          The received request message.
-     *
-     * @retval kErrorNone          Successfully enqueued the CoAP response message.
-     * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
-     * @retval kErrorInvalidArgs   The @p aRequest header is not of confirmable type.
-     */
-    Error SendHeaderResponse(Message::Code aCode, const Msg &aRxMsg);
-
-    /**
-     * Sends a CoAP ACK empty message which is used in Separate Response for confirmable requests.
-     *
-     * @param[in]  aRxMsg         `Msg` for the received CoAP request message.
-     *
-     * @retval kErrorNone          Successfully enqueued the CoAP response message.
-     * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
-     * @retval kErrorInvalidArgs   The @p aRxMsg header is not of confirmable type.
-     */
-    Error SendAck(const Msg &aRxMsg);
-
-    /**
-     * Sends a CoAP ACK message on which a dummy CoAP response is piggybacked.
-     *
-     * @param[in]  aRxMsg          The received CoAP request Message.
-     * @param[in]  aCode           The CoAP code of the dummy CoAP response.
-     *
-     * @retval kErrorNone          Successfully enqueued the CoAP response message.
-     * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
-     * @retval kErrorInvalidArgs   The @p aRxMsg header is not of confirmable type.
-     */
-    Error SendEmptyAck(const Msg &aRxMsg, Code aCode);
-
-    /**
-     * Sends a CoAP ACK message on which a dummy CoAP response is piggybacked.
-     *
-     * @param[in]  aRxMsg          The received CoAP request Message.
-     *
-     * @retval kErrorNone          Successfully enqueued the CoAP response message.
-     * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
-     * @retval kErrorInvalidArgs   The @p aRxMsg header is not of confirmable type.
-     */
-    Error SendEmptyAck(const Msg &aRxMsg);
-
-    /**
-     * Sends a header-only CoAP message to indicate no resource matched for the request.
-     *
-     * @param[in]  aRxMsg          The received request CoAP Message.
-     *
-     * @retval kErrorNone          Successfully enqueued the CoAP response message.
-     * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
-     */
-    Error SendNotFound(const Msg &aRxMsg);
+    Error SendAckResponse(const Msg &aRxMsg);
 
     /**
      * Aborts CoAP transactions associated with given handler and context.
@@ -739,7 +732,7 @@ public:
      * @retval kErrorNone          Successfully enqueued the CoAP response message.
      * @retval kErrorNoBufs        Insufficient buffers available to send the CoAP response.
      */
-    Error SendRequestEntityIncomplete(const Msg &aRxMsg) { return SendHeaderResponse(kCodeRequestIncomplete, aRxMsg); }
+    Error SendRequestEntityIncomplete(const Msg &aRxMsg) { return SendResponse(kCodeRequestIncomplete, aRxMsg); }
 #endif // OPENTHREAD_CONFIG_COAP_BLOCKWISE_TRANSFER_ENABLE
 
 protected:
@@ -957,7 +950,6 @@ private:
                          const Ip6::MessageInfo &aMessageInfo,
                          const TxParameters     *aTxParameters,
                          const SendCallbacks    &aCallbacks);
-    Error    SendEmptyMessage(Type aType, const Msg &aRxMsg);
     Error    Transmit(Message &aMessage, const Ip6::MessageInfo &aMessageInfo);
 
 #if OPENTHREAD_CONFIG_COAP_BLOCKWISE_TRANSFER_ENABLE
diff --git a/src/core/meshcop/border_agent.cpp b/src/core/meshcop/border_agent.cpp
index 4c6bd754b..7bbb82d58 100644
--- a/src/core/meshcop/border_agent.cpp
+++ b/src/core/meshcop/border_agent.cpp
@@ -685,7 +685,10 @@ Error Manager::CoapDtlsSession::ForwardToLeader(const Coap::Msg &aMsg, Uri aUri)
         OT_ASSERT(false);
     }
 
-    SuccessOrExit(error = SendAck(aMsg));
+    if (aMsg.IsConfirmable())
+    {
+        SuccessOrExit(error = SendEmptyMessage(Coap::kTypeAck, aMsg));
+    }
 
     forwardContext.Reset(ForwardContext::Allocate(*this, aMsg.mMessage, aUri));
     VerifyOrExit(!forwardContext.IsNull(), error = kErrorNoBufs);
diff --git a/src/core/meshcop/commissioner.cpp b/src/core/meshcop/commissioner.cpp
index f0722a280..84259b4e2 100644
--- a/src/core/meshcop/commissioner.cpp
+++ b/src/core/meshcop/commissioner.cpp
@@ -886,7 +886,7 @@ template <> void Commissioner::HandleTmf<kUriDatasetChanged>(Coap::Msg &aMsg)
 
     LogInfo("Received %s", UriToString<kUriDatasetChanged>());
 
-    SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+    SuccessOrExit(Get<Tmf::Agent>().SendAckResponse(aMsg));
 
     LogInfo("Sent %s ack", UriToString<kUriDatasetChanged>());
 
@@ -1083,7 +1083,7 @@ template <> void Commissioner::HandleTmf<kUriEnergyReport>(Coap::Msg &aMsg)
 
     mEnergyReportCallback.InvokeIfSet(mask, energyListTlv.GetEnergyList(), energyListTlv.GetEnergyListLength());
 
-    SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+    SuccessOrExit(Get<Tmf::Agent>().SendAckResponse(aMsg));
 
     LogInfo("Sent %s ack", UriToString<kUriEnergyReport>());
 
@@ -1137,7 +1137,7 @@ template <> void Commissioner::HandleTmf<kUriPanIdConflict>(Coap::Msg &aMsg)
 
     mPanIdConflictCallback.InvokeIfSet(panId, mask);
 
-    SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+    SuccessOrExit(Get<Tmf::Agent>().SendAckResponse(aMsg));
 
     LogInfo("Sent %s response", UriToString<kUriPanIdConflict>());
 
diff --git a/src/core/thread/address_resolver.cpp b/src/core/thread/address_resolver.cpp
index a11480f89..2732eff23 100644
--- a/src/core/thread/address_resolver.cpp
+++ b/src/core/thread/address_resolver.cpp
@@ -702,7 +702,7 @@ template <> void AddressResolver::HandleTmf<kUriAddressNotify>(Coap::Msg &aMsg)
 
     LogCacheEntryChange(kEntryUpdated, kReasonReceivedNotification, *entry);
 
-    if (Get<Tmf::Agent>().SendEmptyAck(aMsg) == kErrorNone)
+    if (Get<Tmf::Agent>().SendAckResponse(aMsg) == kErrorNone)
     {
         LogInfo("Sent %s ack", UriToString<kUriAddressNotify>());
     }
@@ -753,7 +753,7 @@ template <> void AddressResolver::HandleTmf<kUriAddressError>(Coap::Msg &aMsg)
 
     if (aMsg.IsConfirmable() && !aMsg.mMessageInfo.GetSockAddr().IsMulticast())
     {
-        if (Get<Tmf::Agent>().SendEmptyAck(aMsg) == kErrorNone)
+        if (Get<Tmf::Agent>().SendAckResponse(aMsg) == kErrorNone)
         {
             LogInfo("Sent %s ack", UriToString<kUriAddressError>());
         }
diff --git a/src/core/thread/announce_begin_server.cpp b/src/core/thread/announce_begin_server.cpp
index 52bb560c4..6535bc1dd 100644
--- a/src/core/thread/announce_begin_server.cpp
+++ b/src/core/thread/announce_begin_server.cpp
@@ -68,7 +68,7 @@ template <> void AnnounceBeginServer::HandleTmf<kUriAnnounceBegin>(Coap::Msg &aM
 
     if (aMsg.IsConfirmable() && !aMsg.mMessageInfo.GetSockAddr().IsMulticast())
     {
-        SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+        SuccessOrExit(Get<Tmf::Agent>().SendAckResponse(aMsg));
         LogInfo("Sent %s response", UriToString<kUriAnnounceBegin>());
     }
 
diff --git a/src/core/thread/dua_manager.cpp b/src/core/thread/dua_manager.cpp
index 5962b894d..9013e784d 100644
--- a/src/core/thread/dua_manager.cpp
+++ b/src/core/thread/dua_manager.cpp
@@ -574,7 +574,7 @@ template <> void DuaManager::HandleTmf<kUriDuaRegistrationNotify>(Coap::Msg &aMs
 
     VerifyOrExit(aMsg.IsPostRequest(), error = kErrorParse);
 
-    if (aMsg.IsConfirmable() && Get<Tmf::Agent>().SendEmptyAck(aMsg) == kErrorNone)
+    if (aMsg.IsConfirmable() && Get<Tmf::Agent>().SendAckResponse(aMsg) == kErrorNone)
     {
         LogInfo("Sent %s ack", UriToString<kUriDuaRegistrationNotify>());
     }
diff --git a/src/core/thread/energy_scan_server.cpp b/src/core/thread/energy_scan_server.cpp
index 05d209277..b4439fdc6 100644
--- a/src/core/thread/energy_scan_server.cpp
+++ b/src/core/thread/energy_scan_server.cpp
@@ -89,7 +89,7 @@ template <> void EnergyScanServer::HandleTmf<kUriEnergyScan>(Coap::Msg &aMsg)
 
     if (aMsg.IsConfirmable() && !aMsg.mMessageInfo.GetSockAddr().IsMulticast())
     {
-        SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+        SuccessOrExit(Get<Tmf::Agent>().SendAckResponse(aMsg));
         LogInfo("Sent %s ack", UriToString<kUriEnergyScan>());
     }
 
diff --git a/src/core/thread/mle_ftd.cpp b/src/core/thread/mle_ftd.cpp
index 4f49bdbe8..acb37847e 100644
--- a/src/core/thread/mle_ftd.cpp
+++ b/src/core/thread/mle_ftd.cpp
@@ -3648,7 +3648,7 @@ template <> void Mle::HandleTmf<kUriAddressRelease>(Coap::Msg &aMsg)
 
     IgnoreError(mRouterTable.Release(routerId));
 
-    SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+    SuccessOrExit(Get<Tmf::Agent>().SendAckResponse(aMsg));
 
     Log(kMessageSend, kTypeAddressReleaseReply, aMsg.mMessageInfo.GetPeerAddr());
 
diff --git a/src/core/thread/network_data_leader_ftd.cpp b/src/core/thread/network_data_leader_ftd.cpp
index 075fde64a..2629d18bb 100644
--- a/src/core/thread/network_data_leader_ftd.cpp
+++ b/src/core/thread/network_data_leader_ftd.cpp
@@ -252,7 +252,7 @@ template <> void Leader::HandleTmf<kUriServerData>(Coap::Msg &aMsg)
         }
     }
 
-    SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+    SuccessOrExit(Get<Tmf::Agent>().SendAckResponse(aMsg));
 
     LogInfo("Sent %s ack", UriToString<kUriServerData>());
 
diff --git a/src/core/thread/network_diagnostic.cpp b/src/core/thread/network_diagnostic.cpp
index db37bc7b5..334c701f9 100644
--- a/src/core/thread/network_diagnostic.cpp
+++ b/src/core/thread/network_diagnostic.cpp
@@ -563,7 +563,7 @@ template <> void Server::HandleTmf<kUriDiagnosticGetQuery>(Coap::Msg &aMsg)
     // DIAG_GET.qry may be sent as a confirmable request.
     if (aMsg.IsConfirmable())
     {
-        IgnoreError(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+        IgnoreError(Get<Tmf::Agent>().SendAckResponse(aMsg));
     }
 
 #if OPENTHREAD_MTD
@@ -967,7 +967,7 @@ template <> void Server::HandleTmf<kUriDiagnosticReset>(Coap::Msg &aMsg)
         }
     }
 
-    IgnoreError(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+    IgnoreError(Get<Tmf::Agent>().SendAckResponse(aMsg));
 
 exit:
     return;
@@ -1092,7 +1092,7 @@ template <> void Client::HandleTmf<kUriDiagnosticGetAnswer>(Coap::Msg &aMsg)
         mGetCallback.InvokeIfSet(kErrorNone, &aMsg.mMessage, &aMsg.mMessageInfo);
     }
 
-    IgnoreError(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+    IgnoreError(Get<Tmf::Agent>().SendAckResponse(aMsg));
 
 exit:
     return;
diff --git a/src/core/thread/panid_query_server.cpp b/src/core/thread/panid_query_server.cpp
index 93aa45c68..10acbf3a5 100644
--- a/src/core/thread/panid_query_server.cpp
+++ b/src/core/thread/panid_query_server.cpp
@@ -64,7 +64,7 @@ template <> void PanIdQueryServer::HandleTmf<kUriPanIdQuery>(Coap::Msg &aMsg)
 
     if (aMsg.IsConfirmable() && !aMsg.mMessageInfo.GetSockAddr().IsMulticast())
     {
-        SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+        SuccessOrExit(Get<Tmf::Agent>().SendAckResponse(aMsg));
         LogInfo("Sent %s ack", UriToString<kUriPanIdQuery>());
     }
 
diff --git a/src/core/utils/history_tracker_client.cpp b/src/core/utils/history_tracker_client.cpp
index 1686ebe03..0e2e70261 100644
--- a/src/core/utils/history_tracker_client.cpp
+++ b/src/core/utils/history_tracker_client.cpp
@@ -111,7 +111,7 @@ exit:
 template <> void Client::HandleTmf<kUriHistoryAnswer>(Coap::Msg &aMsg)
 {
     VerifyOrExit(aMsg.IsConfirmablePostRequest());
-    IgnoreError(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+    IgnoreError(Get<Tmf::Agent>().SendAckResponse(aMsg));
 
     LogInfo("Received %s from %s", ot::UriToString<kUriHistoryAnswer>(),
             aMsg.mMessageInfo.GetPeerAddr().ToString().AsCString());
diff --git a/src/core/utils/history_tracker_server.cpp b/src/core/utils/history_tracker_server.cpp
index 879e72d8f..b2bd78674 100644
--- a/src/core/utils/history_tracker_server.cpp
+++ b/src/core/utils/history_tracker_server.cpp
@@ -56,7 +56,7 @@ template <> void Server::HandleTmf<kUriHistoryQuery>(Coap::Msg &aMsg)
 
     if (aMsg.IsConfirmable())
     {
-        IgnoreError(Get<Tmf::Agent>().SendEmptyAck(aMsg));
+        IgnoreError(Get<Tmf::Agent>().SendAckResponse(aMsg));
     }
 
     PrepareAndSendAnswers(aMsg.mMessageInfo.GetPeerAddr(), aMsg.mMessage);