The extensive utilization of the organophosphate pesticide chlorpyrifos, combined with its acute neurotoxicity, necessitates the development of effective strategies for its environmental removal. While numerous methods have been explored for chlorpyrifos removal from water, adsorption is the most promising. We investigated the potential of two cellulose-derived porous carbons as adsorbents for chlorpyrifos removal from water, prepared by either CO2 or H2O activation, resulting in similar morphologies and porosities but different amounts of heteroatom functionalities. The kinetics of batch adsorption removal from water fits well with the pseudo-first-order and pseudo-second-order kinetic models for both materials. The Freundlich, Langmuir, Dubinin–Radushkevich, and Sips isotherm models described the process of chlorpyrifos adsorption very well in all investigated cases. The maximum adsorption capacity determined from the Sips isotherm model gave values of 80.8 ± 0.1 mg g−1 and 132 ± 3 mg g−1 for the H2O and CO2 activated samples, respectively, reflecting the samples’ differences in heteroatom functionalities. Additionally, the application of either adsorbent led to reduced toxicity levels in all tested samples, implying that no harmful by-products were generated during adsorption. Comparative analysis with the existing literature further validates the study’s findings, suggesting the efficacy and applicability of cellulose-based porous carbons for sustainable chlorpyrifos remediation.