diff --git a/homeassistant/bootstrap.py b/homeassistant/bootstrap.py
index cf3637a4473..72acb0fd785 100644
--- a/homeassistant/bootstrap.py
+++ b/homeassistant/bootstrap.py
@@ -50,7 +50,6 @@ STAGE_1_INTEGRATIONS = {
     # as possible so problem integrations can
     # be removed
     "frontend",
-    "config",
 }
 
 
diff --git a/homeassistant/components/default_config/manifest.json b/homeassistant/components/default_config/manifest.json
index 0b80e172904..338aeb2e285 100644
--- a/homeassistant/components/default_config/manifest.json
+++ b/homeassistant/components/default_config/manifest.json
@@ -5,7 +5,6 @@
   "dependencies": [
     "automation",
     "cloud",
-    "config",
     "frontend",
     "history",
     "logbook",
diff --git a/homeassistant/components/frontend/manifest.json b/homeassistant/components/frontend/manifest.json
index 682c3e9b62f..a1961da4808 100644
--- a/homeassistant/components/frontend/manifest.json
+++ b/homeassistant/components/frontend/manifest.json
@@ -6,6 +6,7 @@
   "dependencies": [
     "api",
     "auth",
+    "config",
     "device_automation",
     "http",
     "lovelace",
diff --git a/homeassistant/components/safe_mode/manifest.json b/homeassistant/components/safe_mode/manifest.json
index 6da29c94790..78a656511bd 100644
--- a/homeassistant/components/safe_mode/manifest.json
+++ b/homeassistant/components/safe_mode/manifest.json
@@ -3,6 +3,6 @@
   "name": "Safe Mode",
   "config_flow": false,
   "documentation": "https://www.home-assistant.io/integrations/safe_mode",
-  "dependencies": ["frontend", "config", "persistent_notification", "cloud"],
+  "dependencies": ["frontend", "persistent_notification", "cloud"],
   "codeowners": ["@home-assistant/core"]
 }
diff --git a/homeassistant/helpers/discovery.py b/homeassistant/helpers/discovery.py
index 11663672bb2..e86638ac02a 100644
--- a/homeassistant/helpers/discovery.py
+++ b/homeassistant/helpers/discovery.py
@@ -9,9 +9,8 @@ from typing import Any, Callable, Collection, Dict, Optional, Union
 
 from homeassistant import core, setup
 from homeassistant.const import ATTR_DISCOVERED, ATTR_SERVICE, EVENT_PLATFORM_DISCOVERED
-from homeassistant.exceptions import HomeAssistantError
 from homeassistant.helpers.typing import ConfigType, DiscoveryInfoType
-from homeassistant.loader import DEPENDENCY_BLACKLIST, bind_hass
+from homeassistant.loader import bind_hass
 from homeassistant.util.async_ import run_callback_threadsafe
 
 EVENT_LOAD_PLATFORM = "load_platform.{}"
@@ -79,9 +78,6 @@ async def async_discover(
     hass_config: ConfigType,
 ) -> None:
     """Fire discovery event. Can ensure a component is loaded."""
-    if component in DEPENDENCY_BLACKLIST:
-        raise HomeAssistantError(f"Cannot discover the {component} component.")
-
     if component is not None and component not in hass.config.components:
         await setup.async_setup_component(hass, component, hass_config)
 
@@ -181,9 +177,6 @@ async def async_load_platform(
     """
     assert hass_config, "You need to pass in the real hass config"
 
-    if component in DEPENDENCY_BLACKLIST:
-        raise HomeAssistantError(f"Cannot discover the {component} component.")
-
     setup_success = True
 
     if component not in hass.config.components:
diff --git a/homeassistant/loader.py b/homeassistant/loader.py
index ed5545b3c28..46db5c232d8 100644
--- a/homeassistant/loader.py
+++ b/homeassistant/loader.py
@@ -31,8 +31,6 @@ if TYPE_CHECKING:
 
 CALLABLE_T = TypeVar("CALLABLE_T", bound=Callable)  # pylint: disable=invalid-name
 
-DEPENDENCY_BLACKLIST = {"config"}
-
 _LOGGER = logging.getLogger(__name__)
 
 DATA_COMPONENTS = "components"
diff --git a/homeassistant/setup.py b/homeassistant/setup.py
index 67d9200df61..8ea249756f3 100644
--- a/homeassistant/setup.py
+++ b/homeassistant/setup.py
@@ -59,17 +59,6 @@ async def _async_process_dependencies(
     hass: core.HomeAssistant, config: ConfigType, name: str, dependencies: List[str]
 ) -> bool:
     """Ensure all dependencies are set up."""
-    blacklisted = [dep for dep in dependencies if dep in loader.DEPENDENCY_BLACKLIST]
-
-    if blacklisted and name not in ("default_config", "safe_mode"):
-        _LOGGER.error(
-            "Unable to set up dependencies of %s: "
-            "found blacklisted dependencies: %s",
-            name,
-            ", ".join(blacklisted),
-        )
-        return False
-
     tasks = [async_setup_component(hass, dep, config) for dep in dependencies]
 
     if not tasks:
diff --git a/tests/helpers/test_discovery.py b/tests/helpers/test_discovery.py
index 3b0996d676a..64f39fb13bd 100644
--- a/tests/helpers/test_discovery.py
+++ b/tests/helpers/test_discovery.py
@@ -1,11 +1,8 @@
 """Test discovery helpers."""
 from unittest.mock import patch
 
-import pytest
-
 from homeassistant import setup
 from homeassistant.core import callback
-from homeassistant.exceptions import HomeAssistantError
 from homeassistant.helpers import discovery
 
 from tests.common import (
@@ -216,15 +213,3 @@ class TestHelpersDiscovery:
 
         # test_component will only be setup once
         assert len(component_calls) == 1
-
-
-async def test_load_platform_forbids_config():
-    """Test you cannot setup config component with load_platform."""
-    with pytest.raises(HomeAssistantError):
-        await discovery.async_load_platform(None, "config", "zwave", {}, {"config": {}})
-
-
-async def test_discover_forbids_config():
-    """Test you cannot setup config component with load_platform."""
-    with pytest.raises(HomeAssistantError):
-        await discovery.async_discover(None, None, None, "config", {})