diff --git a/esphome/core/application.h b/esphome/core/application.h
index 9fee7cb4c3..22299c1033 100644
--- a/esphome/core/application.h
+++ b/esphome/core/application.h
@@ -583,7 +583,7 @@ inline void ESPHOME_ALWAYS_INLINE __attribute__((optimize("O2"))) Application::l
   uint64_t loop_recorded_snap = ComponentRuntimeStats::global_recorded_us;
 #endif
   // Get the initial loop time at the start
-  uint32_t last_op_end_time = millis();
+  uint32_t last_op_end_time = MillisInternal::get();
 
   this->before_loop_tasks_(last_op_end_time);
 #ifdef USE_RUNTIME_STATS
diff --git a/esphome/core/component.h b/esphome/core/component.h
index 6fbb0d5c06..44c24e13d2 100644
--- a/esphome/core/component.h
+++ b/esphome/core/component.h
@@ -9,6 +9,7 @@
 #include "esphome/core/hal.h"
 #include "esphome/core/helpers.h"
 #include "esphome/core/log.h"
+#include "esphome/core/millis_internal.h"
 #include "esphome/core/optional.h"
 
 // Forward declarations for friend access from codegen-generated setup()
@@ -656,7 +657,7 @@ class WarnIfComponentBlockingGuard {
 #ifdef USE_RUNTIME_STATS
     this->component_->runtime_stats_.record_time(micros() - this->started_us_);
 #endif
-    uint32_t curr_time = millis();
+    uint32_t curr_time = MillisInternal::get();
 #ifndef USE_BENCHMARK
     // Fast path: compare against constant threshold in ms (computed at compile time from centiseconds)
     static constexpr uint32_t WARN_IF_BLOCKING_OVER_MS = static_cast<uint32_t>(WARN_IF_BLOCKING_OVER_CS) * 10U;
diff --git a/esphome/core/millis_internal.h b/esphome/core/millis_internal.h
new file mode 100644
index 0000000000..6b73476680
--- /dev/null
+++ b/esphome/core/millis_internal.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include "esphome/core/hal.h"
+#include "esphome/core/helpers.h"
+
+#if defined(USE_ESP32)
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <sdkconfig.h>
+#endif
+
+namespace esphome {
+
+// Friend-gated accessor for a fast millis() variant intended only for
+// known task-context callers on the main loop hot path (Application::loop()
+// and WarnIfComponentBlockingGuard::finish()). It skips the ISR-context
+// dispatch that the public esphome::millis() pays on ESP32.
+//
+// MUST NOT be called from ISR context: on ESP32 it calls the non-FromISR
+// FreeRTOS API directly, which is undefined behavior in ISR context.
+//
+// Adding new callers requires adding a friend declaration here — that
+// is the review point. Do not relax the access (e.g. by making get()
+// public) without considering the ISR-safety contract.
+//
+// Other platforms currently delegate to the public millis(); the friend
+// gate still enforces the intent so platform-specific fast paths can be
+// added later without changing call sites.
+class MillisInternal {
+ private:
+  static ESPHOME_ALWAYS_INLINE uint32_t get() {
+#if defined(USE_ESP32) && CONFIG_FREERTOS_HZ == 1000
+    return xTaskGetTickCount();
+#else
+    return millis();
+#endif
+  }
+  friend class Application;
+  friend class WarnIfComponentBlockingGuard;
+};
+
+}  // namespace esphome