Kimbanguist theology takes a nuanced position on Matthew 16:18. While affirming Peter's leadership role among the apostles and his foundational importance to the early church, Kimbanguist teaching emphasizes that ultimate ecclesial authority rests in Christ himself as the true foundation. The movement's pneumatic and prophetic character — with special reverence for the founder Simon Kimbangu as a prophet and spiritual leader — suggests an understanding of church authority that transcends institutional hierarchy.

The Kimbanguist church maintains apostolic succession through its ecclesiastical structure but emphasizes the role of the Holy Spirit in guiding the church and directing its prophets. This position honors Peter's faith and leadership while maintaining that the rock is fundamentally Christ and the faith in him that Peter confessed.