diff --git a/homeassistant/components/esphome/manifest.json b/homeassistant/components/esphome/manifest.json
index bfb33c7b7d0..32d915f8b76 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==16.0.3",
+    "aioesphomeapi==16.0.4",
     "bluetooth-data-tools==1.11.0",
     "esphome-dashboard-api==1.2.3"
   ],
diff --git a/requirements_all.txt b/requirements_all.txt
index 05c56ef95e9..453eeac3f6e 100644
--- a/requirements_all.txt
+++ b/requirements_all.txt
@@ -232,7 +232,7 @@ aioecowitt==2023.5.0
 aioemonitor==1.0.5
 
 # homeassistant.components.esphome
-aioesphomeapi==16.0.3
+aioesphomeapi==16.0.4
 
 # homeassistant.components.flo
 aioflo==2021.11.0
diff --git a/requirements_test_all.txt b/requirements_test_all.txt
index 2b132a606c1..3a2c66c337e 100644
--- a/requirements_test_all.txt
+++ b/requirements_test_all.txt
@@ -213,7 +213,7 @@ aioecowitt==2023.5.0
 aioemonitor==1.0.5
 
 # homeassistant.components.esphome
-aioesphomeapi==16.0.3
+aioesphomeapi==16.0.4
 
 # homeassistant.components.flo
 aioflo==2021.11.0