diff --git a/homeassistant/components/homekit/accessories.py b/homeassistant/components/homekit/accessories.py
index 571c47a521b..6a33b63e89a 100644
--- a/homeassistant/components/homekit/accessories.py
+++ b/homeassistant/components/homekit/accessories.py
@@ -487,17 +487,17 @@ class HomeBridge(Bridge):
     def setup_message(self):
         """Prevent print of pyhap setup message to terminal."""
 
-    def get_snapshot(self, info):
+    async def async_get_snapshot(self, info):
         """Get snapshot from accessory if supported."""
         acc = self.accessories.get(info["aid"])
         if acc is None:
             raise ValueError("Requested snapshot for missing accessory")
-        if not hasattr(acc, "get_snapshot"):
+        if not hasattr(acc, "async_get_snapshot"):
             raise ValueError(
                 "Got a request for snapshot, but the Accessory "
-                'does not define a "get_snapshot" method'
+                'does not define a "async_get_snapshot" method'
             )
-        return acc.get_snapshot(info)
+        return await acc.async_get_snapshot(info)
 
 
 class HomeDriver(AccessoryDriver):
diff --git a/homeassistant/components/homekit/manifest.json b/homeassistant/components/homekit/manifest.json
index d188dd270ab..23b43958848 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==3.1.0",
+    "HAP-python==3.2.0",
     "fnvhash==0.1.0",
     "PyQRCode==1.2.1",
     "base36==0.1.1",
diff --git a/homeassistant/components/homekit/type_cameras.py b/homeassistant/components/homekit/type_cameras.py
index b61a2c57612..22bf37aa0c3 100644
--- a/homeassistant/components/homekit/type_cameras.py
+++ b/homeassistant/components/homekit/type_cameras.py
@@ -1,5 +1,4 @@
 """Class to hold all camera accessories."""
-import asyncio
 from datetime import timedelta
 import logging
 
@@ -444,13 +443,10 @@ class Camera(HomeAccessory, PyhapCamera):
         """Reconfigure the stream so that it uses the given ``stream_config``."""
         return True
 
-    def get_snapshot(self, image_size):
+    async def async_get_snapshot(self, image_size):
         """Return a jpeg of a snapshot from the camera."""
         return scale_jpeg_camera_image(
-            asyncio.run_coroutine_threadsafe(
-                self.hass.components.camera.async_get_image(self.entity_id),
-                self.hass.loop,
-            ).result(),
+            await self.hass.components.camera.async_get_image(self.entity_id),
             image_size["image-width"],
             image_size["image-height"],
         )
diff --git a/requirements_all.txt b/requirements_all.txt
index a8127ed7097..8281744f221 100644
--- a/requirements_all.txt
+++ b/requirements_all.txt
@@ -17,7 +17,7 @@ Adafruit-SHT31==1.0.2
 # Adafruit_BBIO==1.1.1
 
 # homeassistant.components.homekit
-HAP-python==3.1.0
+HAP-python==3.2.0
 
 # homeassistant.components.mastodon
 Mastodon.py==1.5.1
diff --git a/requirements_test_all.txt b/requirements_test_all.txt
index 3e8972c9864..d997b91f338 100644
--- a/requirements_test_all.txt
+++ b/requirements_test_all.txt
@@ -4,7 +4,7 @@
 -r requirements_test.txt
 
 # homeassistant.components.homekit
-HAP-python==3.1.0
+HAP-python==3.2.0
 
 # homeassistant.components.flick_electric
 PyFlick==0.0.2
diff --git a/tests/components/homekit/test_type_cameras.py b/tests/components/homekit/test_type_cameras.py
index 804e03a4e6c..f4c7169310f 100644
--- a/tests/components/homekit/test_type_cameras.py
+++ b/tests/components/homekit/test_type_cameras.py
@@ -212,22 +212,23 @@ async def test_camera_stream_source_configured(hass, run_driver, events):
     )
     with patch("turbojpeg.TurboJPEG", return_value=turbo_jpeg):
         TurboJPEGSingleton()
-        assert await hass.async_add_executor_job(
-            acc.get_snapshot, {"aid": 2, "image-width": 300, "image-height": 200}
+        assert await acc.async_get_snapshot(
+            {"aid": 2, "image-width": 300, "image-height": 200}
         )
-        # Verify the bridge only forwards get_snapshot for
+        # Verify the bridge only forwards async_get_snapshot for
         # cameras and valid accessory ids
-        assert await hass.async_add_executor_job(
-            bridge.get_snapshot, {"aid": 2, "image-width": 300, "image-height": 200}
+        assert await bridge.async_get_snapshot(
+            {"aid": 2, "image-width": 300, "image-height": 200}
         )
 
     with pytest.raises(ValueError):
-        assert await hass.async_add_executor_job(
-            bridge.get_snapshot, {"aid": 3, "image-width": 300, "image-height": 200}
+        assert await bridge.async_get_snapshot(
+            {"aid": 3, "image-width": 300, "image-height": 200}
         )
+
     with pytest.raises(ValueError):
-        assert await hass.async_add_executor_job(
-            bridge.get_snapshot, {"aid": 4, "image-width": 300, "image-height": 200}
+        assert await bridge.async_get_snapshot(
+            {"aid": 4, "image-width": 300, "image-height": 200}
         )
 
 
@@ -400,8 +401,8 @@ async def test_camera_with_no_stream(hass, run_driver, events):
     await _async_stop_all_streams(hass, acc)
 
     with pytest.raises(HomeAssistantError):
-        await hass.async_add_executor_job(
-            acc.get_snapshot, {"aid": 2, "image-width": 300, "image-height": 200}
+        assert await acc.async_get_snapshot(
+            {"aid": 2, "image-width": 300, "image-height": 200}
         )