diff --git a/homeassistant/components/esphome/manager.py b/homeassistant/components/esphome/manager.py
index a0f49340c1a..35939dc9b1f 100644
--- a/homeassistant/components/esphome/manager.py
+++ b/homeassistant/components/esphome/manager.py
@@ -18,6 +18,7 @@ from aioesphomeapi import (
     UserServiceArgType,
     VoiceAssistantEventType,
 )
+from aioesphomeapi.model import VoiceAssistantCommandFlag
 from awesomeversion import AwesomeVersion
 import voluptuous as vol
 
@@ -319,7 +320,7 @@ class ESPHomeManager:
             self.voice_assistant_udp_server = None
 
     async def _handle_pipeline_start(
-        self, conversation_id: str, use_vad: bool
+        self, conversation_id: str, use_vad: int
     ) -> int | None:
         """Start a voice assistant pipeline."""
         if self.voice_assistant_udp_server is not None:
@@ -339,7 +340,8 @@ class ESPHomeManager:
             voice_assistant_udp_server.run_pipeline(
                 device_id=self.device_id,
                 conversation_id=conversation_id or None,
-                use_vad=use_vad,
+                use_vad=VoiceAssistantCommandFlag(use_vad)
+                == VoiceAssistantCommandFlag.USE_VAD,
             ),
             "esphome.voice_assistant_udp_server.run_pipeline",
         )
diff --git a/homeassistant/components/esphome/manifest.json b/homeassistant/components/esphome/manifest.json
index c44c8b3e28d..313ba5355bb 100644
--- a/homeassistant/components/esphome/manifest.json
+++ b/homeassistant/components/esphome/manifest.json
@@ -16,7 +16,7 @@
   "loggers": ["aioesphomeapi", "noiseprotocol"],
   "requirements": [
     "async_interrupt==1.1.1",
-    "aioesphomeapi==15.1.15",
+    "aioesphomeapi==16.0.1",
     "bluetooth-data-tools==1.8.0",
     "esphome-dashboard-api==1.2.3"
   ],
diff --git a/requirements_all.txt b/requirements_all.txt
index d91e6c58b0c..21aba7da4e7 100644
--- a/requirements_all.txt
+++ b/requirements_all.txt
@@ -228,7 +228,7 @@ aioecowitt==2023.5.0
 aioemonitor==1.0.5
 
 # homeassistant.components.esphome
-aioesphomeapi==15.1.15
+aioesphomeapi==16.0.1
 
 # homeassistant.components.flo
 aioflo==2021.11.0
diff --git a/requirements_test_all.txt b/requirements_test_all.txt
index ccf963c1b3c..93994110627 100644
--- a/requirements_test_all.txt
+++ b/requirements_test_all.txt
@@ -209,7 +209,7 @@ aioecowitt==2023.5.0
 aioemonitor==1.0.5
 
 # homeassistant.components.esphome
-aioesphomeapi==15.1.15
+aioesphomeapi==16.0.1
 
 # homeassistant.components.flo
 aioflo==2021.11.0