diff --git a/esphome/components/uln2003/uln2003.cpp b/esphome/components/uln2003/uln2003.cpp
index 38eadc9dc8..9bf34490ec 100644
--- a/esphome/components/uln2003/uln2003.cpp
+++ b/esphome/components/uln2003/uln2003.cpp
@@ -14,8 +14,8 @@ void ULN2003::setup() {
   this->loop();
 }
 void ULN2003::loop() {
-  bool at_target = this->has_reached_target();
-  if (at_target) {
+  int dir = this->should_step_();
+  if (dir == 0 && this->has_reached_target()) {
     this->high_freq_.stop();
 
     if (this->sleep_when_done_) {
@@ -28,8 +28,6 @@ void ULN2003::loop() {
     }
   } else {
     this->high_freq_.start();
-
-    int dir = this->should_step_();
     this->current_uln_pos_ += dir;
   }