diff --git a/Source/MQTTnet.Extensions.Rpc/MqttRpcClient.cs b/Source/MQTTnet.Extensions.Rpc/MqttRpcClient.cs
index 6450f2cf..7a1cfef1 100644
--- a/Source/MQTTnet.Extensions.Rpc/MqttRpcClient.cs
+++ b/Source/MQTTnet.Extensions.Rpc/MqttRpcClient.cs
@@ -1,4 +1,4 @@
-using MQTTnet.Client;
+using MQTTnet.Client;
 using MQTTnet.Exceptions;
 using MQTTnet.Extensions.Rpc.Options;
 using MQTTnet.Extensions.Rpc.Options.TopicGeneration;
@@ -90,6 +90,7 @@ namespace MQTTnet.Extensions.Rpc
                 .WithTopic(requestTopic)
                 .WithPayload(payload)
                 .WithQualityOfServiceLevel(qualityOfServiceLevel)
+                .WithResponseTopic(responseTopic)
                 .Build();
 
             try
@@ -99,7 +100,7 @@ namespace MQTTnet.Extensions.Rpc
 #else
                 var awaitable = new TaskCompletionSource<byte[]>(TaskCreationOptions.RunContinuationsAsynchronously);
 #endif
-                
+
                 if (!_waitingCalls.TryAdd(responseTopic, awaitable))
                 {
                     throw new InvalidOperationException();
diff --git a/Tests/MQTTnet.Core.Tests/RPC_Tests.cs b/Tests/MQTTnet.Core.Tests/RPC_Tests.cs
index 1d472b6d..09f55613 100644
--- a/Tests/MQTTnet.Core.Tests/RPC_Tests.cs
+++ b/Tests/MQTTnet.Core.Tests/RPC_Tests.cs
@@ -56,6 +56,25 @@ namespace MQTTnet.Tests
             return Execute_Success(MqttQualityOfServiceLevel.ExactlyOnce, MqttProtocolVersion.V500);
         }
 
+        [TestMethod]
+        public Task Execute_Success_With_QoS_0_MQTT_V5_Use_ResponseTopic()
+        {
+            return Execute_Success_MQTT_V5(MqttQualityOfServiceLevel.AtMostOnce);
+        }
+
+        [TestMethod]
+        public Task Execute_Success_With_QoS_1_MQTT_V5_Use_ResponseTopic()
+        {
+            return Execute_Success_MQTT_V5(MqttQualityOfServiceLevel.AtLeastOnce);
+        }
+
+        [TestMethod]
+        public Task Execute_Success_With_QoS_2_MQTT_V5_Use_ResponseTopic()
+        {
+            return Execute_Success_MQTT_V5(MqttQualityOfServiceLevel.ExactlyOnce);
+        }
+
+
         [TestMethod]
         [ExpectedException(typeof(MqttCommunicationTimedOutException))]
         public async Task Execute_Timeout()
@@ -63,7 +82,7 @@ namespace MQTTnet.Tests
             using (var testEnvironment = new TestEnvironment(TestContext))
             {
                 await testEnvironment.StartServer();
-                
+
                 var requestSender = await testEnvironment.ConnectClient();
 
                 var rpcClient = new MqttRpcClient(requestSender, new MqttRpcClientOptionsBuilder().Build());
@@ -81,8 +100,8 @@ namespace MQTTnet.Tests
 
                 var requestSender = await testEnvironment.ConnectClient();
 
-                var rpcClient = await testEnvironment.ConnectRpcClient(new MqttRpcClientOptionsBuilder().WithTopicGenerationStrategy(new TestTopicStrategy()) .Build());
-                
+                var rpcClient = await testEnvironment.ConnectRpcClient(new MqttRpcClientOptionsBuilder().WithTopicGenerationStrategy(new TestTopicStrategy()).Build());
+
                 await rpcClient.ExecuteAsync(TimeSpan.FromSeconds(2), "ping", "", MqttQualityOfServiceLevel.AtMostOnce);
             }
         }
@@ -105,12 +124,86 @@ namespace MQTTnet.Tests
                 using (var rpcClient = new MqttRpcClient(requestSender, new MqttRpcClientOptionsBuilder().Build()))
                 {
                     var response = await rpcClient.ExecuteAsync(TimeSpan.FromSeconds(5), "ping", "", qosLevel);
-                    
+
                     Assert.AreEqual("pong", Encoding.UTF8.GetString(response));
                 }
             }
         }
 
+        async Task Execute_Success_MQTT_V5(MqttQualityOfServiceLevel qosLevel)
+        {
+            using (var testEnvironment = new TestEnvironment(TestContext))
+            {
+                await testEnvironment.StartServer();
+                var responseSender = await testEnvironment.ConnectClient(new MqttClientOptionsBuilder().WithProtocolVersion(MqttProtocolVersion.V500));
+                await responseSender.SubscribeAsync("MQTTnet.RPC/+/ping", qosLevel);
+
+                responseSender.ApplicationMessageReceivedHandler = new MqttApplicationMessageReceivedHandlerDelegate(async e =>
+                {
+                    await responseSender.PublishAsync(e.ApplicationMessage.ResponseTopic, "pong");
+                });
+
+                var requestSender = await testEnvironment.ConnectClient(new MqttClientOptionsBuilder().WithProtocolVersion(MqttProtocolVersion.V500));
+
+                using (var rpcClient = new MqttRpcClient(requestSender, new MqttRpcClientOptionsBuilder().Build()))
+                {
+                    var response = await rpcClient.ExecuteAsync(TimeSpan.FromSeconds(5), "ping", "", qosLevel);
+
+                    Assert.AreEqual("pong", Encoding.UTF8.GetString(response));
+                }
+            }
+        }
+
+        [TestMethod]
+        public async Task Execute_Success_MQTT_V5_Mixed_Clients()
+        {
+            using (var testEnvironment = new TestEnvironment(TestContext))
+            {
+                await testEnvironment.StartServer();
+                var responseSender = await testEnvironment.ConnectClient();
+                await responseSender.SubscribeAsync("MQTTnet.RPC/+/ping", MqttQualityOfServiceLevel.AtMostOnce);
+
+                responseSender.ApplicationMessageReceivedHandler = new MqttApplicationMessageReceivedHandlerDelegate(async e =>
+                {
+                    Assert.IsNull(e.ApplicationMessage.ResponseTopic);
+                    await responseSender.PublishAsync(e.ApplicationMessage.Topic + "/response", "pong");
+                });
+
+                var requestSender = await testEnvironment.ConnectClient(new MqttClientOptionsBuilder().WithProtocolVersion(MqttProtocolVersion.V500));
+
+                using (var rpcClient = new MqttRpcClient(requestSender, new MqttRpcClientOptionsBuilder().Build()))
+                {
+                    var response = await rpcClient.ExecuteAsync(TimeSpan.FromSeconds(5), "ping", "", MqttQualityOfServiceLevel.AtMostOnce);
+
+                    Assert.AreEqual("pong", Encoding.UTF8.GetString(response));
+                }
+            }
+        }
+
+        [TestMethod]
+        [ExpectedException(typeof(MqttCommunicationTimedOutException))]
+        public async Task Execute_Timeout_MQTT_V5_Mixed_Clients()
+        {
+            using (var testEnvironment = new TestEnvironment(TestContext))
+            {
+                await testEnvironment.StartServer();
+                var responseSender = await testEnvironment.ConnectClient();
+                await responseSender.SubscribeAsync("MQTTnet.RPC/+/ping", MqttQualityOfServiceLevel.AtMostOnce);
+
+                responseSender.ApplicationMessageReceivedHandler = new MqttApplicationMessageReceivedHandlerDelegate(async e =>
+                {
+                    Assert.IsNull(e.ApplicationMessage.ResponseTopic);
+                });
+
+                var requestSender = await testEnvironment.ConnectClient(new MqttClientOptionsBuilder().WithProtocolVersion(MqttProtocolVersion.V500));
+
+                using (var rpcClient = new MqttRpcClient(requestSender, new MqttRpcClientOptionsBuilder().Build()))
+                {
+                    var response = await rpcClient.ExecuteAsync(TimeSpan.FromSeconds(2), "ping", "", MqttQualityOfServiceLevel.AtMostOnce);
+                }
+            }
+        }
+
         class TestTopicStrategy : IMqttRpcClientTopicGenerationStrategy
         {
             public MqttRpcTopicPair CreateRpcTopics(TopicGenerationContext context)