diff --git a/esphome/components/bmi160/sensor.py b/esphome/components/bmi160/sensor.py
index 4309f0a79f..9ad1b19fa0 100644
--- a/esphome/components/bmi160/sensor.py
+++ b/esphome/components/bmi160/sensor.py
@@ -88,16 +88,11 @@ async def to_code(config: ConfigType) -> None:
     await cg.register_component(var, config)
     await i2c.register_i2c_device(var, config)
 
-    for d in ["x", "y", "z"]:
-        accel_key = f"acceleration_{d}"
-        if accel_key in config:
-            sens = await sensor.new_sensor(config[accel_key])
-            cg.add(getattr(var, f"set_accel_{d}_sensor")(sens))
-        accel_key = f"gyroscope_{d}"
-        if accel_key in config:
-            sens = await sensor.new_sensor(config[accel_key])
-            cg.add(getattr(var, f"set_gyro_{d}_sensor")(sens))
-
-    if CONF_TEMPERATURE in config:
-        sens = await sensor.new_sensor(config[CONF_TEMPERATURE])
-        cg.add(var.set_temperature_sensor(sens))
+    sensors = sensor.sub_sensors(config)
+    await sensors(CONF_ACCELERATION_X, var.set_accel_x_sensor)
+    await sensors(CONF_GYROSCOPE_X, var.set_gyro_x_sensor)
+    await sensors(CONF_ACCELERATION_Y, var.set_accel_y_sensor)
+    await sensors(CONF_GYROSCOPE_Y, var.set_gyro_y_sensor)
+    await sensors(CONF_ACCELERATION_Z, var.set_accel_z_sensor)
+    await sensors(CONF_GYROSCOPE_Z, var.set_gyro_z_sensor)
+    await sensors(CONF_TEMPERATURE, var.set_temperature_sensor)
diff --git a/esphome/components/max31855/sensor.py b/esphome/components/max31855/sensor.py
index a52f45a18f..3d2a83f8cd 100644
--- a/esphome/components/max31855/sensor.py
+++ b/esphome/components/max31855/sensor.py
@@ -41,6 +41,5 @@ async def to_code(config: ConfigType) -> None:
     var = await sensor.new_sensor(config)
     await cg.register_component(var, config)
     await spi.register_spi_device(var, config)
-    if CONF_REFERENCE_TEMPERATURE in config:
-        tc_ref = await sensor.new_sensor(config[CONF_REFERENCE_TEMPERATURE])
-        cg.add(var.set_reference_sensor(tc_ref))
+    sensors = sensor.sub_sensors(config)
+    await sensors(CONF_REFERENCE_TEMPERATURE, var.set_reference_sensor)
diff --git a/esphome/components/mlx90614/sensor.py b/esphome/components/mlx90614/sensor.py
index 0cf9b95dde..e818ea708d 100644
--- a/esphome/components/mlx90614/sensor.py
+++ b/esphome/components/mlx90614/sensor.py
@@ -53,12 +53,7 @@ async def to_code(config: ConfigType) -> None:
     await cg.register_component(var, config)
     await i2c.register_i2c_device(var, config)
 
-    if CONF_AMBIENT in config:
-        sens = await sensor.new_sensor(config[CONF_AMBIENT])
-        cg.add(var.set_ambient_sensor(sens))
-
-    if CONF_OBJECT in config:
-        sens = await sensor.new_sensor(config[CONF_OBJECT])
-        cg.add(var.set_object_sensor(sens))
-
+    sensors = sensor.sub_sensors(config)
+    await sensors(CONF_AMBIENT, var.set_ambient_sensor)
+    if await sensors(CONF_OBJECT, var.set_object_sensor):
         cg.add(var.set_emissivity(config[CONF_OBJECT][CONF_EMISSIVITY]))
diff --git a/esphome/components/mpu6050/sensor.py b/esphome/components/mpu6050/sensor.py
index a8370ced7f..bd3de2d32c 100644
--- a/esphome/components/mpu6050/sensor.py
+++ b/esphome/components/mpu6050/sensor.py
@@ -70,16 +70,11 @@ async def to_code(config: ConfigType) -> None:
     await cg.register_component(var, config)
     await i2c.register_i2c_device(var, config)
 
-    for d in ["x", "y", "z"]:
-        accel_key = f"accel_{d}"
-        if accel_key in config:
-            sens = await sensor.new_sensor(config[accel_key])
-            cg.add(getattr(var, f"set_accel_{d}_sensor")(sens))
-        accel_key = f"gyro_{d}"
-        if accel_key in config:
-            sens = await sensor.new_sensor(config[accel_key])
-            cg.add(getattr(var, f"set_gyro_{d}_sensor")(sens))
-
-    if CONF_TEMPERATURE in config:
-        sens = await sensor.new_sensor(config[CONF_TEMPERATURE])
-        cg.add(var.set_temperature_sensor(sens))
+    sensors = sensor.sub_sensors(config)
+    await sensors(CONF_ACCEL_X, var.set_accel_x_sensor)
+    await sensors(CONF_GYRO_X, var.set_gyro_x_sensor)
+    await sensors(CONF_ACCEL_Y, var.set_accel_y_sensor)
+    await sensors(CONF_GYRO_Y, var.set_gyro_y_sensor)
+    await sensors(CONF_ACCEL_Z, var.set_accel_z_sensor)
+    await sensors(CONF_GYRO_Z, var.set_gyro_z_sensor)
+    await sensors(CONF_TEMPERATURE, var.set_temperature_sensor)
diff --git a/esphome/components/mpu6886/sensor.py b/esphome/components/mpu6886/sensor.py
index 5bdb836128..878540d516 100644
--- a/esphome/components/mpu6886/sensor.py
+++ b/esphome/components/mpu6886/sensor.py
@@ -71,16 +71,11 @@ async def to_code(config: ConfigType) -> None:
     await cg.register_component(var, config)
     await i2c.register_i2c_device(var, config)
 
-    for d in ["x", "y", "z"]:
-        accel_key = f"accel_{d}"
-        if accel_key in config:
-            sens = await sensor.new_sensor(config[accel_key])
-            cg.add(getattr(var, f"set_accel_{d}_sensor")(sens))
-        accel_key = f"gyro_{d}"
-        if accel_key in config:
-            sens = await sensor.new_sensor(config[accel_key])
-            cg.add(getattr(var, f"set_gyro_{d}_sensor")(sens))
-
-    if CONF_TEMPERATURE in config:
-        sens = await sensor.new_sensor(config[CONF_TEMPERATURE])
-        cg.add(var.set_temperature_sensor(sens))
+    sensors = sensor.sub_sensors(config)
+    await sensors(CONF_ACCEL_X, var.set_accel_x_sensor)
+    await sensors(CONF_GYRO_X, var.set_gyro_x_sensor)
+    await sensors(CONF_ACCEL_Y, var.set_accel_y_sensor)
+    await sensors(CONF_GYRO_Y, var.set_gyro_y_sensor)
+    await sensors(CONF_ACCEL_Z, var.set_accel_z_sensor)
+    await sensors(CONF_GYRO_Z, var.set_gyro_z_sensor)
+    await sensors(CONF_TEMPERATURE, var.set_temperature_sensor)