diff --git a/homeassistant/components/homekit/__init__.py b/homeassistant/components/homekit/__init__.py
index 32b528f567c..3f297892446 100644
--- a/homeassistant/components/homekit/__init__.py
+++ b/homeassistant/components/homekit/__init__.py
@@ -456,7 +456,7 @@ class HomeKit:
         self.bridge = None
         self.driver = None
 
-    def setup(self, zeroconf_instance):
+    def setup(self, async_zeroconf_instance):
         """Set up bridge and accessory driver."""
         ip_addr = self._ip_address or get_local_ip()
         persist_file = get_persist_fullpath_for_entry_id(self.hass, self._entry_id)
@@ -471,7 +471,7 @@ class HomeKit:
             port=self._port,
             persist_file=persist_file,
             advertised_address=self._advertise_ip,
-            zeroconf_instance=zeroconf_instance,
+            async_zeroconf_instance=async_zeroconf_instance,
         )
 
         # If we do not load the mac address will be wrong
@@ -595,8 +595,8 @@ class HomeKit:
         if self.status != STATUS_READY:
             return
         self.status = STATUS_WAIT
-        zc_instance = await zeroconf.async_get_instance(self.hass)
-        await self.hass.async_add_executor_job(self.setup, zc_instance)
+        async_zc_instance = await zeroconf.async_get_async_instance(self.hass)
+        await self.hass.async_add_executor_job(self.setup, async_zc_instance)
         self.aid_storage = AccessoryAidStorage(self.hass, self._entry_id)
         await self.aid_storage.async_initialize()
         await self._async_create_accessories()
diff --git a/homeassistant/components/homekit/manifest.json b/homeassistant/components/homekit/manifest.json
index 483279d55f3..d2c2f094a0f 100644
--- a/homeassistant/components/homekit/manifest.json
+++ b/homeassistant/components/homekit/manifest.json
@@ -3,7 +3,7 @@
   "name": "HomeKit",
   "documentation": "https://www.home-assistant.io/integrations/homekit",
   "requirements": [
-    "HAP-python==3.4.1",
+    "HAP-python==3.5.0",
     "fnvhash==0.1.0",
     "PyQRCode==1.2.1",
     "base36==0.1.1",
diff --git a/requirements_all.txt b/requirements_all.txt
index e6c1045a8f3..d6d871d3126 100644
--- a/requirements_all.txt
+++ b/requirements_all.txt
@@ -14,7 +14,7 @@ Adafruit-SHT31==1.0.2
 # Adafruit_BBIO==1.1.1
 
 # homeassistant.components.homekit
-HAP-python==3.4.1
+HAP-python==3.5.0
 
 # homeassistant.components.mastodon
 Mastodon.py==1.5.1
diff --git a/requirements_test_all.txt b/requirements_test_all.txt
index 3acf168d339..9961342391d 100644
--- a/requirements_test_all.txt
+++ b/requirements_test_all.txt
@@ -7,7 +7,7 @@
 AEMET-OpenData==0.2.1
 
 # homeassistant.components.homekit
-HAP-python==3.4.1
+HAP-python==3.5.0
 
 # homeassistant.components.flick_electric
 PyFlick==0.0.2
diff --git a/tests/components/homekit/conftest.py b/tests/components/homekit/conftest.py
index 469a0a7deb7..5441bcc195c 100644
--- a/tests/components/homekit/conftest.py
+++ b/tests/components/homekit/conftest.py
@@ -12,7 +12,7 @@ from tests.common import async_capture_events
 @pytest.fixture
 def hk_driver(loop):
     """Return a custom AccessoryDriver instance for HomeKit accessory init."""
-    with patch("pyhap.accessory_driver.Zeroconf"), patch(
+    with patch("pyhap.accessory_driver.AsyncZeroconf"), patch(
         "pyhap.accessory_driver.AccessoryEncoder"
     ), patch("pyhap.accessory_driver.HAPServer.async_stop"), patch(
         "pyhap.accessory_driver.HAPServer.async_start"
diff --git a/tests/components/homekit/test_homekit.py b/tests/components/homekit/test_homekit.py
index fd7d74aeaba..bd7af3b3596 100644
--- a/tests/components/homekit/test_homekit.py
+++ b/tests/components/homekit/test_homekit.py
@@ -250,7 +250,7 @@ async def test_homekit_setup(hass, hk_driver, mock_zeroconf):
         port=DEFAULT_PORT,
         persist_file=path,
         advertised_address=None,
-        zeroconf_instance=zeroconf_mock,
+        async_zeroconf_instance=zeroconf_mock,
     )
     assert homekit.driver.safe_mode is False
 
@@ -290,7 +290,7 @@ async def test_homekit_setup_ip_address(hass, hk_driver, mock_zeroconf):
         port=DEFAULT_PORT,
         persist_file=path,
         advertised_address=None,
-        zeroconf_instance=mock_zeroconf,
+        async_zeroconf_instance=mock_zeroconf,
     )
 
 
@@ -315,10 +315,10 @@ async def test_homekit_setup_advertise_ip(hass, hk_driver, mock_zeroconf):
         entry_title=entry.title,
     )
 
-    zeroconf_instance = MagicMock()
+    async_zeroconf_instance = MagicMock()
     path = get_persist_fullpath_for_entry_id(hass, entry.entry_id)
     with patch(f"{PATH_HOMEKIT}.HomeDriver", return_value=hk_driver) as mock_driver:
-        await hass.async_add_executor_job(homekit.setup, zeroconf_instance)
+        await hass.async_add_executor_job(homekit.setup, async_zeroconf_instance)
     mock_driver.assert_called_with(
         hass,
         entry.entry_id,
@@ -329,7 +329,7 @@ async def test_homekit_setup_advertise_ip(hass, hk_driver, mock_zeroconf):
         port=DEFAULT_PORT,
         persist_file=path,
         advertised_address="192.168.1.100",
-        zeroconf_instance=zeroconf_instance,
+        async_zeroconf_instance=async_zeroconf_instance,
     )
 
 
@@ -851,7 +851,7 @@ async def test_homekit_uses_system_zeroconf(hass, hk_driver, mock_zeroconf):
         options={},
     )
     assert await async_setup_component(hass, "zeroconf", {"zeroconf": {}})
-    system_zc = await zeroconf.async_get_instance(hass)
+    system_async_zc = await zeroconf.async_get_async_instance(hass)
 
     with patch("pyhap.accessory_driver.AccessoryDriver.async_start"), patch(
         f"{PATH_HOMEKIT}.HomeKit.async_stop"
@@ -859,7 +859,10 @@ async def test_homekit_uses_system_zeroconf(hass, hk_driver, mock_zeroconf):
         entry.add_to_hass(hass)
         assert await hass.config_entries.async_setup(entry.entry_id)
         await hass.async_block_till_done()
-        assert hass.data[DOMAIN][entry.entry_id][HOMEKIT].driver.advertiser == system_zc
+        assert (
+            hass.data[DOMAIN][entry.entry_id][HOMEKIT].driver.advertiser
+            == system_async_zc
+        )
         assert await hass.config_entries.async_unload(entry.entry_id)
         await hass.async_block_till_done()
 
diff --git a/tests/components/homekit/test_type_cameras.py b/tests/components/homekit/test_type_cameras.py
index ba08ea3caaf..354db900470 100644
--- a/tests/components/homekit/test_type_cameras.py
+++ b/tests/components/homekit/test_type_cameras.py
@@ -80,7 +80,7 @@ async def _async_stop_stream(hass, acc, session_info):
 @pytest.fixture()
 def run_driver(hass):
     """Return a custom AccessoryDriver instance for HomeKit accessory init."""
-    with patch("pyhap.accessory_driver.Zeroconf"), patch(
+    with patch("pyhap.accessory_driver.AsyncZeroconf"), patch(
         "pyhap.accessory_driver.AccessoryEncoder"
     ), patch("pyhap.accessory_driver.HAPServer"), patch(
         "pyhap.accessory_driver.AccessoryDriver.publish"