diff --git a/esphome/components/esp32_ble/ble.cpp b/esphome/components/esp32_ble/ble.cpp
index 4b5505f5ad..0e723855c3 100644
--- a/esphome/components/esp32_ble/ble.cpp
+++ b/esphome/components/esp32_ble/ble.cpp
@@ -84,11 +84,8 @@ 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;
+  if (this->cancel_pending_(BLE_COMPONENT_STATE_DISABLE, BLE_COMPONENT_STATE_ACTIVE))
     return;
-  }
   if (this->state_ != BLE_COMPONENT_STATE_DISABLED)
     return;
 
@@ -96,11 +93,8 @@ 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;
+  if (this->cancel_pending_(BLE_COMPONENT_STATE_ENABLE, BLE_COMPONENT_STATE_DISABLED))
     return;
-  }
   if (this->state_ == BLE_COMPONENT_STATE_DISABLED)
     return;
 
diff --git a/esphome/components/esp32_ble/ble.h b/esphome/components/esp32_ble/ble.h
index 35bf4b5b9f..4de5f8e0e0 100644
--- a/esphome/components/esp32_ble/ble.h
+++ b/esphome/components/esp32_ble/ble.h
@@ -176,6 +176,14 @@ class ESP32BLE final : public Component {
 
   bool ble_setup_();
   bool ble_dismantle_();
+  // A request that arrives while the opposite transition is still pending just
+  // cancels it: loop() has not run, so nothing was torn down or brought up.
+  bool cancel_pending_(BLEComponentState pending, BLEComponentState restored) {
+    if (this->state_ != pending)
+      return false;
+    this->state_ = restored;
+    return true;
+  }
   // Drop what the old stack queued; the next stack reuses the same interface ids.
   void drain_ble_events_() {
     BLEEvent *ble_event;