diff --git a/homeassistant/components/mqtt/binary_sensor.py b/homeassistant/components/mqtt/binary_sensor.py
index 0d4b2c4a7b4..b5c7bc98789 100644
--- a/homeassistant/components/mqtt/binary_sensor.py
+++ b/homeassistant/components/mqtt/binary_sensor.py
@@ -29,7 +29,7 @@ from homeassistant.core import CALLBACK_TYPE, HomeAssistant, callback
 import homeassistant.helpers.config_validation as cv
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
 import homeassistant.helpers.event as evt
-from homeassistant.helpers.event import async_track_point_in_utc_time
+from homeassistant.helpers.event import async_call_later
 from homeassistant.helpers.restore_state import RestoreEntity
 from homeassistant.helpers.typing import ConfigType, DiscoveryInfoType
 from homeassistant.util import dt as dt_util
@@ -128,15 +128,17 @@ class MqttBinarySensor(MqttEntity, BinarySensorEntity, RestoreEntity):
             expiration_at: datetime = last_state.last_changed + timedelta(
                 seconds=self._expire_after
             )
-            if expiration_at < (time_now := dt_util.utcnow()):
+            remain_seconds = (expiration_at - dt_util.utcnow()).total_seconds()
+
+            if remain_seconds <= 0:
                 # Skip reactivating the binary_sensor
                 _LOGGER.debug("Skip state recovery after reload for %s", self.entity_id)
                 return
             self._expired = False
             self._attr_is_on = last_state.state == STATE_ON
 
-            self._expiration_trigger = async_track_point_in_utc_time(
-                self.hass, self._value_is_expired, expiration_at
+            self._expiration_trigger = async_call_later(
+                self.hass, remain_seconds, self._value_is_expired
             )
             _LOGGER.debug(
                 (
@@ -144,7 +146,7 @@ class MqttBinarySensor(MqttEntity, BinarySensorEntity, RestoreEntity):
                     " expiring %s"
                 ),
                 self.entity_id,
-                expiration_at - time_now,
+                remain_seconds,
             )
 
     async def async_will_remove_from_hass(self) -> None:
@@ -202,10 +204,8 @@ class MqttBinarySensor(MqttEntity, BinarySensorEntity, RestoreEntity):
                     self._expiration_trigger()
 
                 # Set new trigger
-                expiration_at = dt_util.utcnow() + timedelta(seconds=self._expire_after)
-
-                self._expiration_trigger = async_track_point_in_utc_time(
-                    self.hass, self._value_is_expired, expiration_at
+                self._expiration_trigger = async_call_later(
+                    self.hass, self._expire_after, self._value_is_expired
                 )
 
             payload = self._value_template(msg.payload)
diff --git a/homeassistant/components/mqtt/sensor.py b/homeassistant/components/mqtt/sensor.py
index ae94b0df0ce..70c8d505b4f 100644
--- a/homeassistant/components/mqtt/sensor.py
+++ b/homeassistant/components/mqtt/sensor.py
@@ -32,7 +32,7 @@ from homeassistant.const import (
 from homeassistant.core import CALLBACK_TYPE, HomeAssistant, State, callback
 import homeassistant.helpers.config_validation as cv
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
-from homeassistant.helpers.event import async_track_point_in_utc_time
+from homeassistant.helpers.event import async_call_later
 from homeassistant.helpers.typing import ConfigType, DiscoveryInfoType
 from homeassistant.util import dt as dt_util
 
@@ -162,15 +162,17 @@ class MqttSensor(MqttEntity, RestoreSensor):
             and not self._expiration_trigger
         ):
             expiration_at = last_state.last_changed + timedelta(seconds=_expire_after)
-            if expiration_at < (time_now := dt_util.utcnow()):
+            remain_seconds = (expiration_at - dt_util.utcnow()).total_seconds()
+
+            if remain_seconds <= 0:
                 # Skip reactivating the sensor
                 _LOGGER.debug("Skip state recovery after reload for %s", self.entity_id)
                 return
             self._expired = False
             self._attr_native_value = last_sensor_data.native_value
 
-            self._expiration_trigger = async_track_point_in_utc_time(
-                self.hass, self._value_is_expired, expiration_at
+            self._expiration_trigger = async_call_later(
+                self.hass, remain_seconds, self._value_is_expired
             )
             _LOGGER.debug(
                 (
@@ -178,7 +180,7 @@ class MqttSensor(MqttEntity, RestoreSensor):
                     " expiring %s"
                 ),
                 self.entity_id,
-                expiration_at - time_now,
+                remain_seconds,
             )
 
     async def async_will_remove_from_hass(self) -> None:
@@ -235,10 +237,8 @@ class MqttSensor(MqttEntity, RestoreSensor):
                     self._expiration_trigger()
 
                 # Set new trigger
-                expiration_at = dt_util.utcnow() + timedelta(seconds=self._expire_after)
-
-                self._expiration_trigger = async_track_point_in_utc_time(
-                    self.hass, self._value_is_expired, expiration_at
+                self._expiration_trigger = async_call_later(
+                    self.hass, self._expire_after, self._value_is_expired
                 )
 
             payload = self._template(msg.payload, PayloadSentinel.DEFAULT)