diff --git a/esphome/components/esp32_ble/ble.cpp b/esphome/components/esp32_ble/ble.cpp
index 085cfbba1c..4b5505f5ad 100644
--- a/esphome/components/esp32_ble/ble.cpp
+++ b/esphome/components/esp32_ble/ble.cpp
@@ -84,6 +84,11 @@ void ESP32BLE::setup() {
 }
 
 void ESP32BLE::enable() {
+  if (this->state_ == BLE_COMPONENT_STATE_DISABLE) {
+    // The teardown has not run yet; the stack is still up.
+    this->state_ = BLE_COMPONENT_STATE_ACTIVE;
+    return;
+  }
   if (this->state_ != BLE_COMPONENT_STATE_DISABLED)
     return;
 
@@ -91,6 +96,11 @@ void ESP32BLE::enable() {
 }
 
 void ESP32BLE::disable() {
+  if (this->state_ == BLE_COMPONENT_STATE_ENABLE) {
+    // The bring-up has not run yet; the stack is still down.
+    this->state_ = BLE_COMPONENT_STATE_DISABLED;
+    return;
+  }
   if (this->state_ == BLE_COMPONENT_STATE_DISABLED)
     return;
 
diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index cbf3378723..9e5f424c87 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -78,8 +78,9 @@ void ESP32BLETracker::loop() {
     return;
   } else if (this->ble_was_disabled_) {
     this->ble_was_disabled_ = false;
-    // If the BLE stack was disabled, we need to start the scan again.
-    if (this->scan_continuous_) {
+    // Start the scan again after a disable. A cancelled disable never stopped
+    // it, so only start from IDLE.
+    if (this->scan_continuous_ && this->scanner_state_ == ScannerState::IDLE) {
       this->start_scan();
     }
   }