diff --git a/esphome/components/valve/__init__.py b/esphome/components/valve/__init__.py
index 9ec21ef6ab..7df58c7a2a 100644
--- a/esphome/components/valve/__init__.py
+++ b/esphome/components/valve/__init__.py
@@ -1,5 +1,5 @@
 from esphome import automation
-from esphome.automation import Condition, maybe_simple_id
+from esphome.automation import maybe_simple_id
 import esphome.codegen as cg
 from esphome.components import mqtt, web_server
 import esphome.config_validation as cv
@@ -62,13 +62,7 @@ VALVE_OPERATIONS = {
 validate_valve_operation = cv.enum(VALVE_OPERATIONS, upper=True)
 
 # Actions
-OpenAction = valve_ns.class_("OpenAction", automation.Action)
-CloseAction = valve_ns.class_("CloseAction", automation.Action)
-StopAction = valve_ns.class_("StopAction", automation.Action)
-ToggleAction = valve_ns.class_("ToggleAction", automation.Action)
 ValvePublishAction = valve_ns.class_("ValvePublishAction", automation.Action)
-ValveIsOpenCondition = valve_ns.class_("ValveIsOpenCondition", Condition)
-ValveIsClosedCondition = valve_ns.class_("ValveIsClosedCondition", Condition)
 
 # Triggers
 ValveOpenTrigger = valve_ns.class_("ValveOpenTrigger", automation.Trigger.template())
@@ -182,36 +176,15 @@ VALVE_ACTION_SCHEMA = maybe_simple_id(
 )
 
 
-automation.register_simple_action(
-    "valve.open",
-    OpenAction,
-    VALVE_ACTION_SCHEMA,
-    synchronous=True,
-)
-
-
-automation.register_simple_action(
-    "valve.close",
-    CloseAction,
-    VALVE_ACTION_SCHEMA,
-    synchronous=True,
-)
-
-
-automation.register_simple_action(
-    "valve.stop",
-    StopAction,
-    VALVE_ACTION_SCHEMA,
-    synchronous=True,
-)
-
-
-automation.register_simple_action(
-    "valve.toggle",
-    ToggleAction,
-    VALVE_ACTION_SCHEMA,
-    synchronous=True,
-)
+for _name, _command in (
+    ("valve.open", "set_command_open()"),
+    ("valve.close", "set_command_close()"),
+    ("valve.stop", "set_command_stop()"),
+    ("valve.toggle", "set_command_toggle()"),
+):
+    automation.register_apply_action(
+        _name, VALVE_ACTION_SCHEMA, automation.ApplyCall(_command), call="make_call"
+    )
 
 
 VALVE_CONTROL_ACTION_SCHEMA = cv.Schema(
diff --git a/esphome/components/valve/automation.h b/esphome/components/valve/automation.h
index 9fdb7665b3..598bbc1678 100644
--- a/esphome/components/valve/automation.h
+++ b/esphome/components/valve/automation.h
@@ -6,64 +6,6 @@
 
 namespace esphome::valve {
 
-template<typename... Ts> class OpenAction final : public Action<Ts...> {
- public:
-  explicit OpenAction(Valve *valve) : valve_(valve) {}
-
-  void play(const Ts &...x) override { this->valve_->make_call().set_command_open().perform(); }
-
- protected:
-  Valve *valve_;
-};
-
-template<typename... Ts> class CloseAction final : public Action<Ts...> {
- public:
-  explicit CloseAction(Valve *valve) : valve_(valve) {}
-
-  void play(const Ts &...x) override { this->valve_->make_call().set_command_close().perform(); }
-
- protected:
-  Valve *valve_;
-};
-
-template<typename... Ts> class StopAction final : public Action<Ts...> {
- public:
-  explicit StopAction(Valve *valve) : valve_(valve) {}
-
-  void play(const Ts &...x) override { this->valve_->make_call().set_command_stop().perform(); }
-
- protected:
-  Valve *valve_;
-};
-
-template<typename... Ts> class ToggleAction final : public Action<Ts...> {
- public:
-  explicit ToggleAction(Valve *valve) : valve_(valve) {}
-
-  void play(const Ts &...x) override { this->valve_->make_call().set_command_toggle().perform(); }
-
- protected:
-  Valve *valve_;
-};
-
-template<typename... Ts> class ValveIsOpenCondition final : public Condition<Ts...> {
- public:
-  ValveIsOpenCondition(Valve *valve) : valve_(valve) {}
-  bool check(const Ts &...x) override { return this->valve_->is_fully_open(); }
-
- protected:
-  Valve *valve_;
-};
-
-template<typename... Ts> class ValveIsClosedCondition final : public Condition<Ts...> {
- public:
-  ValveIsClosedCondition(Valve *valve) : valve_(valve) {}
-  bool check(const Ts &...x) override { return this->valve_->is_fully_closed(); }
-
- protected:
-  Valve *valve_;
-};
-
 class ValveOpenTrigger final : public Trigger<> {
  public:
   ValveOpenTrigger(Valve *a_valve) : valve_(a_valve) {
diff --git a/tests/components/valve/common.yaml b/tests/components/valve/common.yaml
new file mode 100644
index 0000000000..bf01f77bc9
--- /dev/null
+++ b/tests/components/valve/common.yaml
@@ -0,0 +1,18 @@
+valve:
+  - platform: template
+    name: Test Valve
+    id: test_valve
+    optimistic: true
+    has_position: true
+
+button:
+  - platform: template
+    name: Valve Commands
+    on_press:
+      - valve.open: test_valve
+      - valve.close: test_valve
+      - valve.stop: test_valve
+      - valve.toggle: test_valve
+      - valve.control:
+          id: test_valve
+          position: 50%
diff --git a/tests/components/valve/test.esp32-idf.yaml b/tests/components/valve/test.esp32-idf.yaml
new file mode 100644
index 0000000000..3c2acee7ef
--- /dev/null
+++ b/tests/components/valve/test.esp32-idf.yaml
@@ -0,0 +1,2 @@
+packages:
+  valve: !include common.yaml
diff --git a/tests/components/valve/test.esp8266-ard.yaml b/tests/components/valve/test.esp8266-ard.yaml
new file mode 100644
index 0000000000..3c2acee7ef
--- /dev/null
+++ b/tests/components/valve/test.esp8266-ard.yaml
@@ -0,0 +1,2 @@
+packages:
+  valve: !include common.yaml