Control of guided waves has applications across length scales ranging from surface acoustic wave devices to seismic barriers. Resonant elastodynamic metasurfaces present attractive means of guided wave control by generating frequency stop-bandgaps using local resonators. This work addresses the systematic design of these resonators using a density-based topology optimization formulated as an eigenfrequency matching problem that tailors antiresonance eigenfrequencies. The effectiveness of our systematic design methodology is presented in a case study, where topologically optimized resonators are shown to prevent the propagation of the S0 wave mode in an aluminum plate.