  We find that the vortex bound states in superconducting topological
semimetals are gapless owing to topological massless excitations in their
normal states. We demonstrate this universal result in a variety of semimetals
including Dirac and Weyl semimetals, threefold degenerate spin-1 fermions,
spin-3/2 Rarita-Schwinger-Weyl fermion semimetals and other exotic fermion
semimetals. The formation of these gapless bound states are closely related to
their Andreev specular reflection and propagating Andreev modes in $\pi$ phase
superconductor-normal metal-superconductor (SNS) junctions. We further
demonstrate that these gapless states are topologically protected and can be
derived from a topological pumping process.
