diff --git a/esphome/components/openthread/openthread.cpp b/esphome/components/openthread/openthread.cpp
index fb81481299..1596b6e990 100644
--- a/esphome/components/openthread/openthread.cpp
+++ b/esphome/components/openthread/openthread.cpp
@@ -1,7 +1,6 @@
 #include "esphome/core/defines.h"
 #ifdef USE_OPENTHREAD
 #include "openthread.h"
-#include "esp_openthread.h"
 
 #include <freertos/portmacro.h>
 
@@ -51,7 +50,7 @@ void OpenThreadComponent::on_state_changed_(otChangedFlags flags, void *context)
     auto *self = static_cast<OpenThreadComponent *>(context);
     // This runs on the OpenThread task thread with the OT lock held,
     // so we can safely call otThreadGetDeviceRole directly.
-    otInstance *instance = esp_openthread_get_instance();
+    otInstance *instance = self->get_openthread_instance_();
     otDeviceRole role = otThreadGetDeviceRole(instance);
     self->connected_ = role >= OT_DEVICE_ROLE_CHILD;
   }
@@ -233,16 +232,12 @@ bool OpenThreadComponent::teardown() {
     otSrpClientClearHostAndServices(instance);
     otSrpClientBuffersFreeAllServices(instance);
     global_openthread_component = nullptr;
-#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0)
     ESP_LOGD(TAG, "Exit main loop ");
-    int error = esp_openthread_mainloop_exit();
+    int error = this->openthread_stop_();
     if (error != ESP_OK) {
       ESP_LOGW(TAG, "Failed attempt to stop main loop %d", error);
       this->teardown_complete_ = true;
     }
-#else
-    this->teardown_complete_ = true;
-#endif
   }
   return this->teardown_complete_;
 }
diff --git a/esphome/components/openthread/openthread.h b/esphome/components/openthread/openthread.h
index c87f4fa7c1..75d8fe11fd 100644
--- a/esphome/components/openthread/openthread.h
+++ b/esphome/components/openthread/openthread.h
@@ -44,6 +44,8 @@ class OpenThreadComponent : public Component {
  protected:
   std::optional<otIp6Address> get_omr_address_(InstanceLock &lock);
   static void on_state_changed_(otChangedFlags flags, void *context);
+  otInstance *get_openthread_instance_();
+  int openthread_stop_();
   std::function<void()> factory_reset_external_callback_;
 #if CONFIG_OPENTHREAD_MTD
   uint32_t poll_period_{0};
diff --git a/esphome/components/openthread/openthread_esp.cpp b/esphome/components/openthread/openthread_esp.cpp
index cdc7a404b2..9cc9223b52 100644
--- a/esphome/components/openthread/openthread_esp.cpp
+++ b/esphome/components/openthread/openthread_esp.cpp
@@ -190,6 +190,8 @@ void OpenThreadComponent::ot_main() {
   vTaskDelete(NULL);
 }
 
+int OpenThreadComponent::openthread_stop_() { return esp_openthread_mainloop_exit(); }
+
 network::IPAddresses OpenThreadComponent::get_ip_addresses() {
   network::IPAddresses addresses;
   struct esp_ip6_addr if_ip6s[CONFIG_LWIP_IPV6_NUM_ADDRESSES];
@@ -204,6 +206,9 @@ network::IPAddresses OpenThreadComponent::get_ip_addresses() {
   return addresses;
 }
 
+// not thread safe, only use in read-only use cases
+otInstance *OpenThreadComponent::get_openthread_instance_() { return esp_openthread_get_instance(); }
+
 std::optional<InstanceLock> InstanceLock::try_acquire(int delay) {
   if (esp_openthread_lock_acquire(delay)) {
     return InstanceLock();