diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1cd4b89b6..877eb404d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -108,11 +108,8 @@ else()
 endif()
 
 set(Libname "zenohpico")
-if(BUILD_SHARED_LIBS)
-  add_library(${Libname} SHARED)
-else()
-  add_library(${Libname} STATIC)
-endif()
+add_library(${Libname})
+add_library(zenohpico::lib ALIAS ${Libname})
 
 function(add_definition value)
   add_definitions(-D${value})
@@ -268,7 +265,10 @@ file(GLOB_RECURSE PublicHeaders
   "include/zenoh-pico/utils/*.h"
   "include/zenoh-pico/config.h"
 )
-target_include_directories(${Libname} PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_include_directories(${Libname}
+  PUBLIC
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
 
 file(GLOB_RECURSE Sources
   "src/api/*.c"
@@ -334,6 +334,7 @@ message(STATUS "Build tests: ${BUILD_TESTING}")
 message(STATUS "Build integration: ${BUILD_INTEGRATION}")
 
 install(TARGETS ${Libname}
+  EXPORT zenohpicoTargets
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   COMPONENT Library
@@ -372,6 +373,12 @@ install(
   CONFIGURATIONS ${configurations}
   COMPONENT dev)
 
+# Generate <Package>Targets.cmake
+install(
+  EXPORT zenohpicoTargets
+  NAMESPACE zenohpico::
+  DESTINATION "${CMAKE_INSTALL_CMAKEDIR}")
+
 if(UNIX)
   configure_file("${CMAKE_SOURCE_DIR}/zenohpico.pc.in" "${CMAKE_SOURCE_DIR}/zenohpico.pc" @ONLY)
   install(FILES "${CMAKE_SOURCE_DIR}/zenohpico.pc" CONFIGURATIONS Release RelWithDebInfo DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
diff --git a/PackageConfig.cmake.in b/PackageConfig.cmake.in
index b84b6c3ec..94e4777a4 100644
--- a/PackageConfig.cmake.in
+++ b/PackageConfig.cmake.in
@@ -1,21 +1,4 @@
-#
-# Copyright (c) 2023 ZettaScale Technology.
-#
-# This program and the accompanying materials are made available under the
-# terms of the Eclipse Public License 2.0 which is available at
-# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
-# which is available at https://www.apache.org/licenses/LICENSE-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
-#
-# Contributors:
-#   ZettaScale Zenoh team, <zenoh@zettascale.tech>
-#
-
-@PACKAGE_INIT@
-
-set(ZENOHPICO_BUILD_SHARED_LIBS @BUILD_SHARED_LIBS@)
-set(CMAKE_SYSTEM_NAME @CMAKE_SYSTEM_NAME@)
+include(CMakeFindDependencyMacro)
 
 set(ZENOHPICO_FEATURE_UNSTABLE_API @Z_FEATURE_UNSTABLE_API@)
 set(ZENOHPICO_FEATURE_MULTI_THREAD @Z_FEATURE_MULTI_THREAD@)
@@ -26,43 +9,10 @@ set(ZENOHPICO_FEATURE_QUERYABLE @Z_FEATURE_QUERYABLE@)
 set(ZENOHPICO_FEATURE_RAWETH_TRANSPORT @Z_FEATURE_RAWETH_TRANSPORT@)
 set(ZENOHPICO_FEATURE_INTEREST @Z_FEATURE_INTEREST@)
 
-if(ZENOHPICO_BUILD_SHARED_LIBS)
-  if (NOT TARGET __zenohpico_lib)
-    add_library(__zenohpico_lib SHARED IMPORTED GLOBAL)
-    add_library(zenohpico::lib ALIAS __zenohpico_lib)
-    set_target_properties(__zenohpico_lib PROPERTIES IMPORTED_NO_SONAME TRUE)
-    set_property(TARGET __zenohpico_lib PROPERTY IMPORTED_LOCATION "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@/@LIBNAME@")
-    if(NOT ("@IMPLIB@" STREQUAL ""))
-        set_property(TARGET __zenohpico_lib PROPERTY IMPORTED_IMPLIB "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@/@IMPLIB@")
-    endif()
-    target_include_directories(__zenohpico_lib INTERFACE "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")
-  endif()
-else()
-  if (NOT TARGET __zenohpico_static)
-    add_library(__zenohpico_static STATIC IMPORTED GLOBAL)
-    add_library(zenohpico::lib ALIAS __zenohpico_static)
-    set_property(TARGET __zenohpico_static PROPERTY IMPORTED_LOCATION "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@/@LIBNAME@")
-    target_include_directories(__zenohpico_static INTERFACE "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")
-  endif()
+if(@CHECK_THREADS@)
+  find_dependency(Threads REQUIRED)
 endif()
 
-if(CMAKE_SYSTEM_NAME MATCHES "Linux")
-  add_compile_definitions(ZENOH_LINUX)
-elseif(POSIX_COMPATIBLE)
-  add_compile_definitions(ZENOH_LINUX)
-elseif(CMAKE_SYSTEM_NAME MATCHES "BSD")
-  add_compile_definitions(ZENOH_BSD)
-elseif(CMAKE_SYSTEM_NAME MATCHES "Darwin")
-  add_compile_definitions(ZENOH_MACOS)
-elseif(CMAKE_SYSTEM_NAME MATCHES "Emscripten")
-  add_compile_definitions(EMSCRIPTEN)
-elseif(CMAKE_SYSTEM_NAME MATCHES "Windows")
-  add_compile_definitions(ZENOH_WINDOWS)
-elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
-  if(WITH_ZEPHYR)
-    add_compile_definitions(ZENOH_ZEPHYR)
-  elseif(WITH_FREERTOS_PLUS_TCP)
-    add_compile_definitions(ZENOH_FREERTOS_PLUS_TCP)
-  endif()
-endif()
+include("${CMAKE_CURRENT_LIST_DIR}/zenohpicoTargets.cmake")
 
+add_library(zenohpico::lib ALIAS zenohpico::zenohpico)
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index ba3dd8139..a0476703f 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -4,7 +4,7 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR})
     project(zenohpico_examples LANGUAGES C)
     include(../cmake/helpers.cmake)
     set_default_build_type(Release)
-    configure_include_project(ZENOHPICO zenohpico zenohpico::static ".." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
+    configure_include_project(ZENOHPICO zenohpico zenohpico::lib ".." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
     add_custom_target(examples ALL)
 else()
     message(STATUS "zenoh-pico examples")