diff --git a/mediapipe/calculators/image/BUILD b/mediapipe/calculators/image/BUILD
index e32e7165d..259012d64 100644
--- a/mediapipe/calculators/image/BUILD
+++ b/mediapipe/calculators/image/BUILD
@@ -786,7 +786,6 @@ cc_library(
             ":affine_transformation_runner_gl",
             "//mediapipe/gpu:gl_calculator_helper",
             "//mediapipe/gpu:gpu_buffer",
-            "//mediapipe/gpu:gpu_service",
         ],
     }) + select({
         "//mediapipe/framework/port:disable_opencv": [],
diff --git a/mediapipe/calculators/image/image_clone_calculator.cc b/mediapipe/calculators/image/image_clone_calculator.cc
index 563b4a4ad..6660d55b4 100644
--- a/mediapipe/calculators/image/image_clone_calculator.cc
+++ b/mediapipe/calculators/image/image_clone_calculator.cc
@@ -64,8 +64,7 @@ class ImageCloneCalculator : public Node {
           "GPU processing is disabled in build flags");
     }
 #else
-    MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(
-        cc, /*requesst_gpu_as_optional=*/true));
+    MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
 #endif  // MEDIAPIPE_DISABLE_GPU
     return absl::OkStatus();
   }
@@ -73,6 +72,9 @@ class ImageCloneCalculator : public Node {
   absl::Status Open(CalculatorContext* cc) override {
     const auto& options = cc->Options<mediapipe::ImageCloneCalculatorOptions>();
     output_on_gpu_ = options.output_on_gpu();
+#if !MEDIAPIPE_DISABLE_GPU
+    MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
+#endif  // !MEDIAPIPE_DISABLE_GPU
     return absl::OkStatus();
   }
 
@@ -102,10 +104,6 @@ class ImageCloneCalculator : public Node {
 
     if (output_on_gpu_ && !input_on_gpu) {
 #if !MEDIAPIPE_DISABLE_GPU
-      if (!gpu_initialized_) {
-        MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
-        gpu_initialized_ = true;
-      }
       gpu_helper_.RunInGlContext([&output]() { output->ConvertToGpu(); });
 #endif  // !MEDIAPIPE_DISABLE_GPU
     } else if (!output_on_gpu_ && input_on_gpu) {
@@ -120,7 +118,6 @@ class ImageCloneCalculator : public Node {
   bool output_on_gpu_;
 #if !MEDIAPIPE_DISABLE_GPU
   mediapipe::GlCalculatorHelper gpu_helper_;
-  bool gpu_initialized_ = false;
 #endif  // !MEDIAPIPE_DISABLE_GPU
 };
 MEDIAPIPE_REGISTER_NODE(ImageCloneCalculator);
diff --git a/mediapipe/calculators/image/segmentation_smoothing_calculator.cc b/mediapipe/calculators/image/segmentation_smoothing_calculator.cc
index d238975c6..1194412a6 100644
--- a/mediapipe/calculators/image/segmentation_smoothing_calculator.cc
+++ b/mediapipe/calculators/image/segmentation_smoothing_calculator.cc
@@ -117,8 +117,7 @@ absl::Status SegmentationSmoothingCalculator::GetContract(
   cc->Outputs().Tag(kOutputMaskTag).Set<Image>();
 
 #if !MEDIAPIPE_DISABLE_GPU
-  MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(
-      cc, /*requesst_gpu_as_optional=*/true));
+  MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
 #endif  // !MEDIAPIPE_DISABLE_GPU
 
   return absl::OkStatus();
@@ -131,6 +130,10 @@ absl::Status SegmentationSmoothingCalculator::Open(CalculatorContext* cc) {
       cc->Options<mediapipe::SegmentationSmoothingCalculatorOptions>();
   combine_with_previous_ratio_ = options.combine_with_previous_ratio();
 
+#if !MEDIAPIPE_DISABLE_GPU
+  MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
+#endif  //  !MEDIAPIPE_DISABLE_GPU
+
   return absl::OkStatus();
 }
 
@@ -151,9 +154,6 @@ absl::Status SegmentationSmoothingCalculator::Process(CalculatorContext* cc) {
 
   if (use_gpu) {
 #if !MEDIAPIPE_DISABLE_GPU
-    if (!gpu_initialized_) {
-      MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
-    }
     MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext([this, cc]() -> absl::Status {
       if (!gpu_initialized_) {
         MP_RETURN_IF_ERROR(GlSetup(cc));
@@ -178,12 +178,10 @@ absl::Status SegmentationSmoothingCalculator::Process(CalculatorContext* cc) {
 
 absl::Status SegmentationSmoothingCalculator::Close(CalculatorContext* cc) {
 #if !MEDIAPIPE_DISABLE_GPU
-  if (gpu_initialized_) {
-    gpu_helper_.RunInGlContext([this] {
-      if (program_) glDeleteProgram(program_);
-      program_ = 0;
-    });
-  }
+  gpu_helper_.RunInGlContext([this] {
+    if (program_) glDeleteProgram(program_);
+    program_ = 0;
+  });
 #endif  // !MEDIAPIPE_DISABLE_GPU
 
   return absl::OkStatus();
diff --git a/mediapipe/calculators/image/warp_affine_calculator.cc b/mediapipe/calculators/image/warp_affine_calculator.cc
index c02eb9f14..1d19c661d 100644
--- a/mediapipe/calculators/image/warp_affine_calculator.cc
+++ b/mediapipe/calculators/image/warp_affine_calculator.cc
@@ -36,7 +36,6 @@
 #if !MEDIAPIPE_DISABLE_GPU
 #include "mediapipe/gpu/gl_calculator_helper.h"
 #include "mediapipe/gpu/gpu_buffer.h"
-#include "mediapipe/gpu/gpu_service.h"
 #endif  // !MEDIAPIPE_DISABLE_GPU
 
 namespace mediapipe {
@@ -107,7 +106,6 @@ class WarpAffineRunnerHolder<mediapipe::GpuBuffer> {
         cc->Options<mediapipe::WarpAffineCalculatorOptions>().interpolation());
     return gl_helper_->Open(cc);
   }
-
   absl::StatusOr<RunnerType*> GetRunner() {
     if (!runner_) {
       MP_ASSIGN_OR_RETURN(
@@ -144,10 +142,7 @@ class WarpAffineRunnerHolder<mediapipe::Image> {
       MP_RETURN_IF_ERROR(cpu_holder_.Open(cc));
 #endif  // !MEDIAPIPE_DISABLE_OPENCV
 #if !MEDIAPIPE_DISABLE_GPU
-      if (cc->Service(kGpuService).IsAvailable()) {
-        MP_RETURN_IF_ERROR(gpu_holder_.Open(cc));
-        gpu_holder_initialized_ = true;
-      }
+      MP_RETURN_IF_ERROR(gpu_holder_.Open(cc));
 #endif  // !MEDIAPIPE_DISABLE_GPU
       return absl::OkStatus();
     }
@@ -156,9 +151,6 @@ class WarpAffineRunnerHolder<mediapipe::Image> {
         const AffineTransformation::Size& size,
         AffineTransformation::BorderMode border_mode) override {
       if (input.UsesGpu()) {
-        if (!gpu_holder_initialized_) {
-          return absl::UnavailableError("GPU support is not available");
-        }
 #if !MEDIAPIPE_DISABLE_GPU
         MP_ASSIGN_OR_RETURN(auto* runner, gpu_holder_.GetRunner());
         MP_ASSIGN_OR_RETURN(
@@ -191,7 +183,6 @@ class WarpAffineRunnerHolder<mediapipe::Image> {
 #endif  // !MEDIAPIPE_DISABLE_OPENCV
 #if !MEDIAPIPE_DISABLE_GPU
     WarpAffineRunnerHolder<mediapipe::GpuBuffer> gpu_holder_;
-    bool gpu_holder_initialized_ = false;
 #endif  // !MEDIAPIPE_DISABLE_GPU
   };
 
@@ -205,24 +196,20 @@ class WarpAffineCalculatorImpl : public mediapipe::api2::NodeImpl<InterfaceT> {
   static absl::Status UpdateContract(CalculatorContract* cc) {
     if constexpr (std::is_same_v<InterfaceT, WarpAffineCalculatorGpu> ||
                   std::is_same_v<InterfaceT, WarpAffineCalculator>) {
-      MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(
-          cc, /*requesst_gpu_as_optional=*/true));
+      MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
     }
     return absl::OkStatus();
   }
 #endif  // !MEDIAPIPE_DISABLE_GPU
+
+  absl::Status Open(CalculatorContext* cc) override { return holder_.Open(cc); }
+
   absl::Status Process(CalculatorContext* cc) override {
     if (InterfaceT::kInImage(cc).IsEmpty() ||
         InterfaceT::kMatrix(cc).IsEmpty() ||
         InterfaceT::kOutputSize(cc).IsEmpty()) {
       return absl::OkStatus();
     }
-
-    if (!holder_initialized_) {
-      MP_RETURN_IF_ERROR(holder_.Open(cc));
-      holder_initialized_ = true;
-    }
-
     const std::array<float, 16>& transform = *InterfaceT::kMatrix(cc);
     auto [out_width, out_height] = *InterfaceT::kOutputSize(cc);
     AffineTransformation::Size output_size;
@@ -243,7 +230,6 @@ class WarpAffineCalculatorImpl : public mediapipe::api2::NodeImpl<InterfaceT> {
  private:
   WarpAffineRunnerHolder<typename decltype(InterfaceT::kInImage)::PayloadT>
       holder_;
-  bool holder_initialized_ = false;
 };
 
 }  // namespace
diff --git a/mediapipe/calculators/tensor/tensors_to_detections_calculator.cc b/mediapipe/calculators/tensor/tensors_to_detections_calculator.cc
index 8e649c0a1..6d42226b9 100644
--- a/mediapipe/calculators/tensor/tensors_to_detections_calculator.cc
+++ b/mediapipe/calculators/tensor/tensors_to_detections_calculator.cc
@@ -266,8 +266,7 @@ absl::Status TensorsToDetectionsCalculator::UpdateContract(
     CalculatorContract* cc) {
   if (CanUseGpu()) {
 #ifndef MEDIAPIPE_DISABLE_GL_COMPUTE
-    MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(
-        cc, /*requesst_gpu_as_optional=*/true));
+    MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
 #elif MEDIAPIPE_METAL_ENABLED
     MP_RETURN_IF_ERROR([MPPMetalHelper updateContract:cc]);
 #endif  // !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
@@ -281,6 +280,7 @@ absl::Status TensorsToDetectionsCalculator::Open(CalculatorContext* cc) {
 
   if (CanUseGpu()) {
 #ifndef MEDIAPIPE_DISABLE_GL_COMPUTE
+    MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
 #elif MEDIAPIPE_METAL_ENABLED
     gpu_helper_ = [[MPPMetalHelper alloc] initWithCalculatorContext:cc];
     RET_CHECK(gpu_helper_);
@@ -676,15 +676,13 @@ absl::Status TensorsToDetectionsCalculator::ProcessGPU(
 
 absl::Status TensorsToDetectionsCalculator::Close(CalculatorContext* cc) {
 #ifndef MEDIAPIPE_DISABLE_GL_COMPUTE
-  if (gpu_inited_) {
-    gpu_helper_.RunInGlContext([this] {
-      decoded_boxes_buffer_ = nullptr;
-      scored_boxes_buffer_ = nullptr;
-      raw_anchors_buffer_ = nullptr;
-      glDeleteProgram(decode_program_);
-      glDeleteProgram(score_program_);
-    });
-  }
+  gpu_helper_.RunInGlContext([this] {
+    decoded_boxes_buffer_ = nullptr;
+    scored_boxes_buffer_ = nullptr;
+    raw_anchors_buffer_ = nullptr;
+    glDeleteProgram(decode_program_);
+    glDeleteProgram(score_program_);
+  });
 #elif MEDIAPIPE_METAL_ENABLED
   decoded_boxes_buffer_ = nullptr;
   scored_boxes_buffer_ = nullptr;
@@ -944,7 +942,6 @@ absl::Status TensorsToDetectionsCalculator::GpuInit(CalculatorContext* cc) {
       break;
   }
 #ifndef MEDIAPIPE_DISABLE_GL_COMPUTE
-  MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
   MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext([this, output_format_flag]()
                                                     -> absl::Status {
     // A shader to decode detection boxes.
@@ -1423,6 +1420,7 @@ kernel void scoreKernel(
           num_classes_, max_wg_size));
     }
   }
+
 #endif  // !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
 
   return absl::OkStatus();
diff --git a/mediapipe/calculators/tensor/tensors_to_segmentation_calculator.cc b/mediapipe/calculators/tensor/tensors_to_segmentation_calculator.cc
index 6456126ae..6b77acee4 100644
--- a/mediapipe/calculators/tensor/tensors_to_segmentation_calculator.cc
+++ b/mediapipe/calculators/tensor/tensors_to_segmentation_calculator.cc
@@ -173,7 +173,6 @@ class TensorsToSegmentationCalculator : public CalculatorBase {
 #if !MEDIAPIPE_DISABLE_GPU
   mediapipe::GlCalculatorHelper gpu_helper_;
   GLuint upsample_program_;
-  bool gpu_initialized_ = false;
 #if MEDIAPIPE_OPENGL_ES_VERSION >= MEDIAPIPE_OPENGL_ES_31
   int cached_width_ = 0;
   int cached_height_ = 0;
@@ -207,8 +206,7 @@ absl::Status TensorsToSegmentationCalculator::GetContract(
 
   if (CanUseGpu()) {
 #if !MEDIAPIPE_DISABLE_GPU
-    MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(
-        cc, /*requesst_gpu_as_optional=*/true));
+    MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
 #if MEDIAPIPE_METAL_ENABLED
     MP_RETURN_IF_ERROR([MPPMetalHelper updateContract:cc]);
 #endif  // MEDIAPIPE_METAL_ENABLED
@@ -220,9 +218,12 @@ absl::Status TensorsToSegmentationCalculator::GetContract(
 
 absl::Status TensorsToSegmentationCalculator::Open(CalculatorContext* cc) {
   cc->SetOffset(TimestampDiff(0));
+  bool use_gpu = false;
 
   if (CanUseGpu()) {
 #if !MEDIAPIPE_DISABLE_GPU
+    use_gpu = true;
+    MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
 #if MEDIAPIPE_METAL_ENABLED
     metal_helper_ = [[MPPMetalHelper alloc] initWithCalculatorContext:cc];
     RET_CHECK(metal_helper_);
@@ -232,6 +233,14 @@ absl::Status TensorsToSegmentationCalculator::Open(CalculatorContext* cc) {
 
   MP_RETURN_IF_ERROR(LoadOptions(cc));
 
+  if (use_gpu) {
+#if !MEDIAPIPE_DISABLE_GPU
+    MP_RETURN_IF_ERROR(InitGpu(cc));
+#else
+    RET_CHECK_FAIL() << "GPU processing disabled.";
+#endif  // !MEDIAPIPE_DISABLE_GPU
+  }
+
   return absl::OkStatus();
 }
 
@@ -276,15 +285,6 @@ absl::Status TensorsToSegmentationCalculator::Process(CalculatorContext* cc) {
   }
 
   if (use_gpu) {
-#if !MEDIAPIPE_DISABLE_GPU
-    if (!gpu_initialized_) {
-      MP_RETURN_IF_ERROR(InitGpu(cc));
-      gpu_initialized_ = true;
-    }
-#else
-    RET_CHECK_FAIL() << "GPU processing disabled.";
-#endif  // !MEDIAPIPE_DISABLE_GPU
-
 #if !MEDIAPIPE_DISABLE_GPU
     MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext([this, cc]() -> absl::Status {
       MP_RETURN_IF_ERROR(ProcessGpu(cc));
@@ -306,10 +306,6 @@ absl::Status TensorsToSegmentationCalculator::Process(CalculatorContext* cc) {
 
 absl::Status TensorsToSegmentationCalculator::Close(CalculatorContext* cc) {
 #if !MEDIAPIPE_DISABLE_GPU
-  if (!gpu_initialized_) {
-    return absl::OkStatus();
-  }
-
   gpu_helper_.RunInGlContext([this] {
     if (upsample_program_) glDeleteProgram(upsample_program_);
     upsample_program_ = 0;
@@ -639,7 +635,6 @@ absl::Status TensorsToSegmentationCalculator::LoadOptions(
 
 absl::Status TensorsToSegmentationCalculator::InitGpu(CalculatorContext* cc) {
 #if !MEDIAPIPE_DISABLE_GPU
-  MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
   MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext([this]() -> absl::Status {
   // A shader to process a segmentation tensor into an output mask.
   // Currently uses 4 channels for output, and sets R+A channels as mask value.
@@ -904,8 +899,6 @@ void main() {
 
     return absl::OkStatus();
   }));
-
-  gpu_initialized_ = true;
 #endif  // !MEDIAPIPE_DISABLE_GPU
 
   return absl::OkStatus();
diff --git a/mediapipe/gpu/gl_calculator_helper.cc b/mediapipe/gpu/gl_calculator_helper.cc
index 1b113f8ac..763ac387a 100644
--- a/mediapipe/gpu/gl_calculator_helper.cc
+++ b/mediapipe/gpu/gl_calculator_helper.cc
@@ -56,13 +56,8 @@ void GlCalculatorHelper::InitializeForTest(GpuResources* gpu_resources) {
 }
 
 // static
-absl::Status GlCalculatorHelper::UpdateContract(CalculatorContract* cc,
-                                                bool requesst_gpu_as_optional) {
-  if (requesst_gpu_as_optional) {
-    cc->UseService(kGpuService).Optional();
-  } else {
-    cc->UseService(kGpuService);
-  }
+absl::Status GlCalculatorHelper::UpdateContract(CalculatorContract* cc) {
+  cc->UseService(kGpuService);
   // Allow the legacy side packet to be provided, too, for backwards
   // compatibility with existing graphs. It will just be ignored.
   auto& input_side_packets = cc->InputSidePackets();
diff --git a/mediapipe/gpu/gl_calculator_helper.h b/mediapipe/gpu/gl_calculator_helper.h
index f5d98ebfe..b6430860f 100644
--- a/mediapipe/gpu/gl_calculator_helper.h
+++ b/mediapipe/gpu/gl_calculator_helper.h
@@ -67,8 +67,7 @@ class GlCalculatorHelper {
 
   // This method can be called from GetContract to set up the needed GPU
   // resources.
-  static absl::Status UpdateContract(CalculatorContract* cc,
-                                     bool requesst_gpu_as_optional = false);
+  static absl::Status UpdateContract(CalculatorContract* cc);
 
   // This method can be called from FillExpectations to set the correct types
   // for the shared GL input side packet(s).
diff --git a/mediapipe/python/pybind/calculator_graph.cc b/mediapipe/python/pybind/calculator_graph.cc
index dfff78635..b017ca38b 100644
--- a/mediapipe/python/pybind/calculator_graph.cc
+++ b/mediapipe/python/pybind/calculator_graph.cc
@@ -112,11 +112,6 @@ void CalculatorGraphSubmodule(pybind11::module* module) {
                              "graph with a ValidatedGraphConfig object.");
         }
         auto calculator_graph = absl::make_unique<CalculatorGraph>();
-        // Disable default service initialization. This allows us to use
-        // the CPU versions of calculators that only optionally request
-        // kGpuService.
-        RaisePyErrorIfNotOk(
-            calculator_graph->DisallowServiceDefaultInitialization());
         RaisePyErrorIfNotOk(calculator_graph->Initialize(graph_config_proto));
         return calculator_graph.release();
       }),