diff --git a/rosbag2_compression/include/rosbag2_compression/sequential_compression_writer.hpp b/rosbag2_compression/include/rosbag2_compression/sequential_compression_writer.hpp
index 7a42426e05..c50ff24e0e 100644
--- a/rosbag2_compression/include/rosbag2_compression/sequential_compression_writer.hpp
+++ b/rosbag2_compression/include/rosbag2_compression/sequential_compression_writer.hpp
@@ -72,33 +72,33 @@ class ROSBAG2_COMPRESSION_PUBLIC SequentialCompressionWriter
   ~SequentialCompressionWriter() override;
 
   /**
-   * Create a new topic in the underlying storage. Needs to be called for every topic used within
-   * a message which is passed to write(...).
-   *
+   * \brief Create a new topic in the underlying storage.
+   * \details Needs to be called for every topic used within a message which is passed
+   * to \ref write "write(...)".
+   * \note If writer is not open, this will just store the topic information locally and
+   * topics will be created on storage open.
    * \param topic_with_type name and type identifier of topic to be created
-   * \throws runtime_error if the Writer is not open.
    */
   void create_topic(const rosbag2_storage::TopicMetadata & topic_with_type) override;
 
   /**
-   * Create a new topic in the underlying storage. Needs to be called for every topic used within
-   * a message which is passed to write(...).
-   *
+   * \brief Create a new topic in the underlying storage.
+   * \details Needs to be called for every topic used within a message which is passed
+   * to \ref write "write(...)".
+   * \note If writer is not open, this will just store the topic information locally and
+   * topics will be created on storage open.
    * \param topic_with_type name and type identifier of topic to be created
-   * \param message_definition definition of topic_with_type.type
-   * \throws runtime_error if the Writer is not open.
+   * \param message_definition message definition content for this topic's type
    */
   void create_topic(
     const rosbag2_storage::TopicMetadata & topic_with_type,
     const rosbag2_storage::MessageDefinition & message_definition) override;
 
   /**
-   * Remove a new topic in the underlying storage.
-   * If creation of subscription fails remove the topic
-   * from the db (more of cleanup)
-   *
+   * \brief Removes a new topic in the underlying storage.
+   * \details Expected to be used if creation of subscription fails and cleanup is needed.
+   * \note If writer is not open, this will just remove the topic information locally.
    * \param topic_with_type name and type identifier of topic to be created
-   * \throws runtime_error if the Writer is not open.
    */
   void remove_topic(const rosbag2_storage::TopicMetadata & topic_with_type) override;
 
@@ -115,9 +115,9 @@ class ROSBAG2_COMPRESSION_PUBLIC SequentialCompressionWriter
   void write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message) override;
 
   /**
-   * Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
-   * This must be called before any other function is used.
-   *
+   * \brief Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
+   * \details This must be called before any other function is used among \ref create_topic
+   * and \ref remove_topic.
    * \param storage_options Options to configure the storage
    * \param converter_options options to define in which format incoming messages are stored
    **/
diff --git a/rosbag2_cpp/include/rosbag2_cpp/writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writer.hpp
index 521c2f80d3..a8e8e4dd9c 100644
--- a/rosbag2_cpp/include/rosbag2_cpp/writer.hpp
+++ b/rosbag2_cpp/include/rosbag2_cpp/writer.hpp
@@ -63,9 +63,9 @@ class ROSBAG2_CPP_PUBLIC Writer
   ~Writer();
 
   /**
-   * Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
-   * This must be called before any other function is used.
-   *
+   * \brief Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
+   * \details This must be called before any other function is used among \ref create_topic
+   * and \ref remove_topic.
    * \note This will open URI with the default storage options
    * * using default storage backend
    * * using no converter options, storing messages with the incoming serialization format
@@ -78,9 +78,9 @@ class ROSBAG2_CPP_PUBLIC Writer
   void open(const std::string & uri);
 
   /**
-   * Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
-   * This must be called before any other function is used.
-   *
+   * \brief Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
+   * \details This must be called before any other function is used among \ref create_topic
+   * and \ref remove_topic.
    * \param storage_options Options to configure the storage
    * \param converter_options options to define in which format incoming messages are stored
    **/
@@ -94,21 +94,23 @@ class ROSBAG2_CPP_PUBLIC Writer
   void close();
 
   /**
-   * Create a new topic in the underlying storage. Needs to be called for every topic used within
-   * a message which is passed to write(...).
-   *
+   * \brief Create a new topic in the underlying storage.
+   * \details Needs to be called for every topic used within a message which is passed
+   * to \ref write "write(...)".
+   * \note If writer is not open, this will just store the topic information locally and
+   * topics will be created on storage open.
    * \param topic_with_type name and type identifier of topic to be created
-   * \throws runtime_error if the Writer is not open.
    */
   void create_topic(const rosbag2_storage::TopicMetadata & topic_with_type);
 
   /**
-   * Create a new topic in the underlying storage. Needs to be called for every topic used within
-   * a message which is passed to write(...).
-   *
+   * \brief Create a new topic in the underlying storage.
+   * \details Needs to be called for every topic used within a message which is passed
+   * to \ref write "write(...)".
+   * \note If writer is not open, this will just store the topic information locally and
+   * topics will be created on storage open.
    * \param topic_with_type name and type identifier of topic to be created
    * \param message_definition message definition content for this topic's type
-   * \throws runtime_error if the Writer is not open.
    */
   void create_topic(
     const rosbag2_storage::TopicMetadata & topic_with_type,
@@ -126,12 +128,10 @@ class ROSBAG2_CPP_PUBLIC Writer
   void split_bagfile();
 
   /**
-   * Remove a new topic in the underlying storage.
-   * If creation of subscription fails remove the topic
-   * from the db (more of cleanup)
-   *
+   * \brief Removes a new topic in the underlying storage.
+   * \details Expected to be used if creation of subscription fails and cleanup is needed.
+   * \note If writer is not open, this will just remove the topic information locally.
    * \param topic_with_type name and type identifier of topic to be created
-   * \throws runtime_error if the Writer is not open.
    */
   void remove_topic(const rosbag2_storage::TopicMetadata & topic_with_type);
 
diff --git a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
index 06478fd56b..f4076a92d1 100644
--- a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
+++ b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
@@ -72,9 +72,9 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
   ~SequentialWriter() override;
 
   /**
-   * Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
-   * This must be called before any other function is used.
-   *
+   * \brief Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
+   * \details This must be called before any other function is used among \ref create_topic
+   * and \ref remove_topic.
    * \param storage_options Options to configure the storage
    * \param converter_options options to define in which format incoming messages are stored
    **/
@@ -85,33 +85,33 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
   void close() override;
 
   /**
-   * Create a new topic in the underlying storage. Needs to be called for every topic used within
-   * a message which is passed to write(...).
-   *
+   * \brief Create a new topic in the underlying storage.
+   * \details Needs to be called for every topic used within a message which is passed
+   * to \ref write "write(...)".
+   * \note If writer is not open, this will just store the topic information locally and
+   * topics will be created on storage open.
    * \param topic_with_type name and type identifier of topic to be created
-   * \throws runtime_error if the Writer is not open.
    */
   void create_topic(const rosbag2_storage::TopicMetadata & topic_with_type) override;
 
   /**
-   * Create a new topic in the underlying storage. Needs to be called for every topic used within
-   * a message which is passed to write(...).
-   *
+   * \brief Create a new topic in the underlying storage.
+   * \details Needs to be called for every topic used within a message which is passed
+   * to \ref write "write(...)".
+   * \note If writer is not open, this will just store the topic information locally and
+   * topics will be created on storage open.
    * \param topic_with_type name and type identifier of topic to be created
    * \param message_definition message definition content for this topic's type
-   * \throws runtime_error if the Writer is not open.
    */
   void create_topic(
     const rosbag2_storage::TopicMetadata & topic_with_type,
     const rosbag2_storage::MessageDefinition & message_definition) override;
 
   /**
-   * Remove a new topic in the underlying storage.
-   * If creation of subscription fails remove the topic
-   * from the db (more of cleanup)
-   *
+   * \brief Removes a new topic in the underlying storage.
+   * \details Expected to be used if creation of subscription fails and cleanup is needed.
+   * \note If writer is not open, this will just remove the topic information locally.
    * \param topic_with_type name and type identifier of topic to be created
-   * \throws runtime_error if the Writer is not open.
    */
   void remove_topic(const rosbag2_storage::TopicMetadata & topic_with_type) override;
 
@@ -171,11 +171,17 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
 
   rosbag2_storage::StorageOptions storage_options_;
 
-  // Used to track topic -> message count. If cache is present, it is updated by CacheConsumer
+  /// \brief Topic name to the TopicInformation map.
+  /// Used to keep topic list and track message counts. If cache is present, the message
+  /// counts updated by CacheConsumer.
+  /// \note The map is persisted across bagfile splits and writer close()->open() operations.
+  /// However, the message counts inside TopicInformation are reset to zero on close() and open().
+  /// \note topics_names_to_info_ needs to be protected with \sa topics_info_mutex_ only when we
+  /// are explicitly adding or deleting items (create_topic(..)/remove_topic(..)) and when we access
+  /// it from CacheConsumer callback i.e., write_messages(..). In all other cases like in write(..)
+  /// it is safe to access without topics_info_mutex_ losck as all external API calls are protected
+  /// with \sa writer_mutex_ on \sa rosbag2_cpp::Writer level.
   std::unordered_map<std::string, rosbag2_storage::TopicInformation> topics_names_to_info_;
-  // Note: topics_names_to_info_ needs to be protected with mutex only when we are explicitly
-  // adding or deleting items (create_topic(..)/remove_topic(..)) and when we access it from
-  // CacheConsumer callback i.e., write_messages(..)
   std::mutex topics_info_mutex_;
 
   LocalMessageDefinitionSource message_definitions_;
diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 787784dd52..1aa1a13890 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -56,8 +56,6 @@ SequentialWriter::SequentialWriter(
   storage_(nullptr),
   metadata_io_(std::move(metadata_io)),
   converter_(nullptr),
-  topics_names_to_info_(),
-  topic_names_to_message_definitions_(),
   metadata_()
 {}
 
@@ -169,6 +167,18 @@ void SequentialWriter::open(
   }
 
   init_metadata();
+  // Register topics in storage if they already exists
+  metadata_.topics_with_message_count.clear();
+  metadata_.topics_with_message_count.reserve(topics_names_to_info_.size());
+  for (auto & [topic_name, topic_info] : topics_names_to_info_) {
+    topic_info.message_count = 0U;
+    auto const & md = topic_names_to_message_definitions_[topic_name];
+    storage_->create_topic(topic_info.topic_metadata, md);
+    metadata_.topics_with_message_count.push_back(topic_info);
+    if (converter_) {
+      converter_->add_topic(topic_name, topic_info.topic_metadata.type);
+    }
+  }
   storage_->update_metadata(metadata_);
   is_open_ = true;
 }
@@ -205,19 +215,20 @@ void SequentialWriter::close()
     execute_bag_split_callbacks(closed_file, "");
   }
 
-  topics_names_to_info_.clear();
-  topic_names_to_message_definitions_.clear();
+  // Zero message counts for all topics
+  std::lock_guard<std::mutex> lock(topics_info_mutex_);
+  for (auto & [_, topic_info] : topics_names_to_info_) {
+    topic_info.message_count = 0U;
+  }
 
   converter_.reset();
 }
 
 void SequentialWriter::create_topic(const rosbag2_storage::TopicMetadata & topic_with_type)
 {
-  if (topics_names_to_info_.find(topic_with_type.name) !=
-    topics_names_to_info_.end())
-  {
-    // nothing to do, topic already created
-    return;
+  // Don't need to lock topics_info_mutex_ since we are not modifying topics_names_to_info_ here
+  if (topics_names_to_info_.find(topic_with_type.name) != topics_names_to_info_.end()) {
+    return;  // nothing to do, topic already created
   }
   rosbag2_storage::MessageDefinition definition =
     message_definitions_.get_full_text_ext(topic_with_type.type, topic_with_type.name);
@@ -241,65 +252,39 @@ void SequentialWriter::create_topic(
   const rosbag2_storage::TopicMetadata & topic_with_type,
   const rosbag2_storage::MessageDefinition & message_definition)
 {
-  if (topics_names_to_info_.find(topic_with_type.name) !=
-    topics_names_to_info_.end())
-  {
-    // nothing to do, topic already created
-    return;
-  }
-
-  if (!is_open_) {
-    throw std::runtime_error("Bag is not open. Call open() before writing.");
-  }
-
   rosbag2_storage::TopicInformation info{};
-  info.topic_metadata = topic_with_type;
-
-  bool insert_succeeded = false;
   {
     std::lock_guard<std::mutex> lock(topics_info_mutex_);
-    const auto insert_res = topics_names_to_info_.insert(
-      std::make_pair(topic_with_type.name, info));
-    insert_succeeded = insert_res.second;
-  }
-
-  if (!insert_succeeded) {
-    std::stringstream errmsg;
-    errmsg << "Failed to insert topic \"" << topic_with_type.name << "\"!";
-
-    throw std::runtime_error(errmsg.str());
+    if (topics_names_to_info_.find(topic_with_type.name) != topics_names_to_info_.end()) {
+      return;  // nothing to do, topic already created
+    }
+    info.topic_metadata = topic_with_type;
+    (void)topics_names_to_info_.insert({topic_with_type.name, info});
+    (void)topic_names_to_message_definitions_.insert({topic_with_type.name, message_definition});
   }
 
-  topic_names_to_message_definitions_.insert(
-    std::make_pair(topic_with_type.name, message_definition));
-
-  storage_->create_topic(topic_with_type, message_definition);
-
-  if (converter_) {
-    converter_->add_topic(topic_with_type.name, topic_with_type.type);
+  if (is_open_.load()) {
+    storage_->create_topic(topic_with_type, message_definition);
+    metadata_.topics_with_message_count.push_back(info);
+    if (converter_) {
+      converter_->add_topic(topic_with_type.name, topic_with_type.type);
+    }
   }
 }
 
 void SequentialWriter::remove_topic(const rosbag2_storage::TopicMetadata & topic_with_type)
 {
-  if (!is_open_) {
-    throw std::runtime_error("Bag is not open. Call open() before removing.");
-  }
-
-  bool erased = false;
-  {
-    std::lock_guard<std::mutex> lock(topics_info_mutex_);
-    erased = topics_names_to_info_.erase(topic_with_type.name) > 0;
-    erased = erased && (topic_names_to_message_definitions_.erase(topic_with_type.name) > 0);
-  }
+  std::lock_guard<std::mutex> lock(topics_info_mutex_);
+  bool erased = topics_names_to_info_.erase(topic_with_type.name) > 0;
+  erased = erased && (topic_names_to_message_definitions_.erase(topic_with_type.name) > 0);
 
   if (erased) {
-    storage_->remove_topic(topic_with_type);
+    if (is_open_.load()) {
+      storage_->remove_topic(topic_with_type);
+    }
   } else {
     std::stringstream errmsg;
-    errmsg << "Failed to remove the non-existing topic \"" <<
-      topic_with_type.name << "\"!";
-
+    errmsg << "Failed to remove the non-existing topic \"" << topic_with_type.name << "\"!";
     throw std::runtime_error(errmsg.str());
   }
 }
@@ -329,6 +314,9 @@ void SequentialWriter::switch_to_next_storage()
   storage_options_.uri = format_storage_uri(
     base_folder_,
     metadata_.relative_file_paths.size());
+  // TODO(morlov): If we would ever remove the upper level writer mutex lock, consider protecting
+  //  storage_ with mutex to avoid race conditions with write(msg) call when we are switching to
+  //  next storage and not using cache.
   storage_ = storage_factory_->open_read_write(storage_options_);
   if (!storage_) {
     std::stringstream errmsg;
@@ -345,10 +333,13 @@ void SequentialWriter::switch_to_next_storage()
   metadata_.relative_file_paths.push_back(file_info.path);
 
   storage_->update_metadata(metadata_);
-  // Re-register all topics since we rolled-over to a new bagfile.
-  for (const auto & topic : topics_names_to_info_) {
-    auto const & md = topic_names_to_message_definitions_[topic.first];
-    storage_->create_topic(topic.second.topic_metadata, md);
+  {
+    // Re-register all topics since we rolled-over to a new bagfile.
+    std::lock_guard<std::mutex> lock(topics_info_mutex_);
+    for (const auto & topic : topics_names_to_info_) {
+      auto const & md = topic_names_to_message_definitions_[topic.first];
+      storage_->create_topic(topic.second.topic_metadata, md);
+    }
   }
 
   if (use_cache_) {
@@ -394,12 +385,13 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
   }
 
   // Get TopicInformation handler for counting messages.
-  rosbag2_storage::TopicInformation * topic_information {nullptr};
-  try {
-    topic_information = &topics_names_to_info_.at(message->topic_name);
-  } catch (const std::out_of_range & /* oor */) {
+  rosbag2_storage::TopicInformation * topic_information_ptr{nullptr};
+  const auto & topic_name = message->topic_name;
+  if (const auto it = topics_names_to_info_.find(topic_name); it != topics_names_to_info_.end()) {
+    topic_information_ptr = &(it->second);
+  } else {
     std::stringstream errmsg;
-    errmsg << "Failed to write on topic '" << message->topic_name <<
+    errmsg << "Failed to write on topic '" << topic_name <<
       "'. Call create_topic() before first write.";
     throw std::runtime_error(errmsg.str());
   }
@@ -436,7 +428,7 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
     // If cache size is set to zero, we write to storage directly
     if (storage_->write_message(converted_msg)) {
       metadata_.files.back().message_count++;
-      topic_information->message_count++;
+      topic_information_ptr->message_count++;
     } else {
       message_lost = true;
     }
diff --git a/rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp b/rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp
index 2914b95def..b43ac8f3ae 100644
--- a/rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp
+++ b/rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp
@@ -169,6 +169,48 @@ std::shared_ptr<rosbag2_storage::SerializedBagMessage> make_test_msg()
   return message;
 }
 
+TEST_F(SequentialWriterTest, create_topic_does_not_throw_if_writer_not_open) {
+  auto sequential_writer = std::make_unique<rosbag2_cpp::writers::SequentialWriter>(
+    std::move(storage_factory_), converter_factory_, std::move(metadata_io_));
+  writer_ = std::make_unique<rosbag2_cpp::Writer>(std::move(sequential_writer));
+
+  rosbag2_storage::TopicMetadata topic_metadata{0u, "topic1", "test_msgs/BasicTypes", "", {}, ""};
+
+  EXPECT_NO_THROW(writer_->create_topic(topic_metadata));
+}
+
+TEST_F(SequentialWriterTest, remove_topic_does_not_throw_if_writer_not_open) {
+  auto sequential_writer = std::make_unique<rosbag2_cpp::writers::SequentialWriter>(
+    std::move(storage_factory_), converter_factory_, std::move(metadata_io_));
+  writer_ = std::make_unique<rosbag2_cpp::Writer>(std::move(sequential_writer));
+
+  rosbag2_storage::TopicMetadata topic_metadata{0u, "topic1", "test_msgs/BasicTypes", "", {}, ""};
+
+  EXPECT_NO_THROW(writer_->create_topic(topic_metadata));
+  EXPECT_NO_THROW(writer_->remove_topic(topic_metadata));
+}
+
+TEST_F(SequentialWriterTest, topics_persist_between_close_and_open) {
+  auto sequential_writer = std::make_unique<rosbag2_cpp::writers::SequentialWriter>(
+    std::move(storage_factory_), converter_factory_, std::move(metadata_io_));
+  writer_ = std::make_unique<rosbag2_cpp::Writer>(std::move(sequential_writer));
+
+  auto test_message = make_test_msg();
+  rosbag2_storage::TopicMetadata topic_metadata {
+    0U, test_message->topic_name, "test_msgs/BasicTypes", "", {}, ""
+  };
+
+  writer_->create_topic(topic_metadata);
+  writer_->open(storage_options_);
+  writer_->close();
+
+  // Reopen the writer and verify the topic still exists. i.e., writing a message without
+  // recreating the topic.
+  storage_options_.uri += "(1)";  // Add suffix to create a new bag folder in the scope of the test
+  writer_->open(storage_options_);
+  EXPECT_NO_THROW(writer_->write(test_message));
+}
+
 TEST_F(
   SequentialWriterTest,
   write_uses_converters_to_convert_serialization_format_if_input_and_output_format_are_different) {