diff --git a/.coveragerc b/.coveragerc
index 70d9fd5e0e2..984adba59f7 100644
--- a/.coveragerc
+++ b/.coveragerc
@@ -312,7 +312,6 @@ omit =
     homeassistant/components/esphome/domain_data.py
     homeassistant/components/esphome/entry_data.py
     homeassistant/components/esphome/light.py
-    homeassistant/components/esphome/number.py
     homeassistant/components/esphome/switch.py
     homeassistant/components/etherscan/sensor.py
     homeassistant/components/eufy/*
diff --git a/homeassistant/components/esphome/number.py b/homeassistant/components/esphome/number.py
index e876fe412f6..4e3d052e6ef 100644
--- a/homeassistant/components/esphome/number.py
+++ b/homeassistant/components/esphome/number.py
@@ -74,9 +74,7 @@ class EsphomeNumber(EsphomeEntity[NumberInfo, NumberState], NumberEntity):
     def native_value(self) -> float | None:
         """Return the state of the entity."""
         state = self._state
-        if math.isnan(state.state):
-            return None
-        if state.missing_state:
+        if state.missing_state or math.isnan(state.state):
             return None
         return state.state
 
diff --git a/tests/components/esphome/test_number.py b/tests/components/esphome/test_number.py
new file mode 100644
index 00000000000..8157c5f5c3d
--- /dev/null
+++ b/tests/components/esphome/test_number.py
@@ -0,0 +1,91 @@
+"""Test ESPHome numbers."""
+
+import math
+from unittest.mock import call
+
+from aioesphomeapi import (
+    APIClient,
+    NumberInfo,
+    NumberMode as ESPHomeNumberMode,
+    NumberState,
+)
+
+from homeassistant.components.number import (
+    ATTR_VALUE,
+    DOMAIN as NUMBER_DOMAIN,
+    SERVICE_SET_VALUE,
+)
+from homeassistant.const import ATTR_ENTITY_ID, STATE_UNKNOWN
+from homeassistant.core import HomeAssistant
+
+
+async def test_generic_number_entity(
+    hass: HomeAssistant,
+    mock_client: APIClient,
+    mock_generic_device_entry,
+) -> None:
+    """Test a generic number entity."""
+    entity_info = [
+        NumberInfo(
+            object_id="mynumber",
+            key=1,
+            name="my number",
+            unique_id="my_number",
+            max_value=100,
+            min_value=0,
+            step=1,
+            unit_of_measurement="%",
+        )
+    ]
+    states = [NumberState(key=1, state=50)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("number.test_my_number")
+    assert state is not None
+    assert state.state == "50"
+
+    await hass.services.async_call(
+        NUMBER_DOMAIN,
+        SERVICE_SET_VALUE,
+        {ATTR_ENTITY_ID: "number.test_my_number", ATTR_VALUE: 50},
+        blocking=True,
+    )
+    mock_client.number_command.assert_has_calls([call(1, 50)])
+    mock_client.number_command.reset_mock()
+
+
+async def test_generic_number_nan(
+    hass: HomeAssistant,
+    mock_client: APIClient,
+    mock_generic_device_entry,
+) -> None:
+    """Test a generic number entity with nan state."""
+    entity_info = [
+        NumberInfo(
+            object_id="mynumber",
+            key=1,
+            name="my number",
+            unique_id="my_number",
+            max_value=100,
+            min_value=0,
+            step=1,
+            unit_of_measurement="%",
+            mode=ESPHomeNumberMode.SLIDER,
+        )
+    ]
+    states = [NumberState(key=1, state=math.nan)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("number.test_my_number")
+    assert state is not None
+    assert state.state == STATE_UNKNOWN
diff --git a/tests/components/esphome/test_sensor.py b/tests/components/esphome/test_sensor.py
index 5517198341a..8f4eb0f9513 100644
--- a/tests/components/esphome/test_sensor.py
+++ b/tests/components/esphome/test_sensor.py
@@ -1,6 +1,9 @@
 """Test ESPHome sensors."""
+import math
+
 from aioesphomeapi import (
     APIClient,
+    EntityCategory as ESPHomeEntityCategory,
     LastResetType,
     SensorInfo,
     SensorState,
@@ -10,8 +13,10 @@ from aioesphomeapi import (
 )
 
 from homeassistant.components.sensor import ATTR_STATE_CLASS, SensorStateClass
-from homeassistant.const import STATE_UNKNOWN
+from homeassistant.const import ATTR_ICON, STATE_UNKNOWN
 from homeassistant.core import HomeAssistant
+from homeassistant.helpers import entity_registry as er
+from homeassistant.helpers.entity import EntityCategory
 
 
 async def test_generic_numeric_sensor(
@@ -41,6 +46,41 @@ async def test_generic_numeric_sensor(
     assert state.state == "50"
 
 
+async def test_generic_numeric_sensor_with_entity_category_and_icon(
+    hass: HomeAssistant,
+    mock_client: APIClient,
+    mock_generic_device_entry,
+) -> None:
+    """Test a generic sensor entity."""
+    entity_info = [
+        SensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+            entity_category=ESPHomeEntityCategory.CONFIG,
+            icon="mdi:leaf",
+        )
+    ]
+    states = [SensorState(key=1, state=50)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == "50"
+    assert state.attributes[ATTR_ICON] == "mdi:leaf"
+    entity_reg = er.async_get(hass)
+    entry = entity_reg.async_get("sensor.test_my_sensor")
+    assert entry is not None
+    assert entry.unique_id == "my_sensor"
+    assert entry.entity_category is EntityCategory.CONFIG
+
+
 async def test_generic_numeric_sensor_state_class_measurement(
     hass: HomeAssistant,
     mock_client: APIClient,
@@ -70,6 +110,11 @@ async def test_generic_numeric_sensor_state_class_measurement(
     assert state is not None
     assert state.state == "50"
     assert state.attributes[ATTR_STATE_CLASS] == SensorStateClass.MEASUREMENT
+    entity_reg = er.async_get(hass)
+    entry = entity_reg.async_get("sensor.test_my_sensor")
+    assert entry is not None
+    assert entry.unique_id == "my_sensor"
+    assert entry.entity_category is None
 
 
 async def test_generic_numeric_sensor_device_class_timestamp(
@@ -130,6 +175,56 @@ async def test_generic_numeric_sensor_legacy_last_reset_convert(
     assert state.attributes[ATTR_STATE_CLASS] == SensorStateClass.TOTAL_INCREASING
 
 
+async def test_generic_numeric_sensor_no_state(
+    hass: HomeAssistant, mock_client: APIClient, mock_generic_device_entry
+) -> None:
+    """Test a generic numeric sensor that has no state."""
+    entity_info = [
+        SensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+        )
+    ]
+    states = []
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == STATE_UNKNOWN
+
+
+async def test_generic_numeric_sensor_nan_state(
+    hass: HomeAssistant, mock_client: APIClient, mock_generic_device_entry
+) -> None:
+    """Test a generic numeric sensor that has nan state."""
+    entity_info = [
+        SensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+        )
+    ]
+    states = [SensorState(key=1, state=math.nan, missing_state=False)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == STATE_UNKNOWN
+
+
 async def test_generic_numeric_sensor_missing_state(
     hass: HomeAssistant, mock_client: APIClient, mock_generic_device_entry
 ) -> None: