diff --git a/esphome/components/api/api_server.cpp b/esphome/components/api/api_server.cpp
index 17c83c54f1..6852afe937 100644
--- a/esphome/components/api/api_server.cpp
+++ b/esphome/components/api/api_server.cpp
@@ -227,7 +227,7 @@ bool APIServer::check_password(const std::string &password) const {
 void APIServer::handle_disconnect(APIConnection *conn) {}
 
 #ifdef USE_BINARY_SENSOR
-void APIServer::on_binary_sensor_update(binary_sensor::BinarySensor *obj, bool state) {
+void APIServer::on_binary_sensor_update(binary_sensor::BinarySensor *obj) {
   if (obj->is_internal())
     return;
   for (auto &c : this->clients_)
diff --git a/esphome/components/api/api_server.h b/esphome/components/api/api_server.h
index 71e470d4f8..971c192e4b 100644
--- a/esphome/components/api/api_server.h
+++ b/esphome/components/api/api_server.h
@@ -54,7 +54,7 @@ class APIServer : public Component, public Controller {
 
   void handle_disconnect(APIConnection *conn);
 #ifdef USE_BINARY_SENSOR
-  void on_binary_sensor_update(binary_sensor::BinarySensor *obj, bool state) override;
+  void on_binary_sensor_update(binary_sensor::BinarySensor *obj) override;
 #endif
 #ifdef USE_COVER
   void on_cover_update(cover::Cover *obj) override;
diff --git a/esphome/components/binary_sensor/__init__.py b/esphome/components/binary_sensor/__init__.py
index ec1c4e8a0c..bc26c09622 100644
--- a/esphome/components/binary_sensor/__init__.py
+++ b/esphome/components/binary_sensor/__init__.py
@@ -1,7 +1,10 @@
+from logging import getLogger
+
 from esphome import automation, core
 from esphome.automation import Condition, maybe_simple_id
 import esphome.codegen as cg
 from esphome.components import mqtt, web_server
+from esphome.components.const import CONF_ON_STATE_CHANGE
 import esphome.config_validation as cv
 from esphome.const import (
     CONF_DELAY,
@@ -98,6 +101,7 @@ IS_PLATFORM_COMPONENT = True
 
 CONF_TIME_OFF = "time_off"
 CONF_TIME_ON = "time_on"
+CONF_TRIGGER_ON_INITIAL_STATE = "trigger_on_initial_state"
 
 DEFAULT_DELAY = "1s"
 DEFAULT_TIME_OFF = "100ms"
@@ -127,9 +131,17 @@ MultiClickTriggerEvent = binary_sensor_ns.struct("MultiClickTriggerEvent")
 StateTrigger = binary_sensor_ns.class_(
     "StateTrigger", automation.Trigger.template(bool)
 )
+StateChangeTrigger = binary_sensor_ns.class_(
+    "StateChangeTrigger",
+    automation.Trigger.template(cg.optional.template(bool), cg.optional.template(bool)),
+)
+
 BinarySensorPublishAction = binary_sensor_ns.class_(
     "BinarySensorPublishAction", automation.Action
 )
+BinarySensorInvalidateAction = binary_sensor_ns.class_(
+    "BinarySensorInvalidateAction", automation.Action
+)
 
 # Condition
 BinarySensorCondition = binary_sensor_ns.class_("BinarySensorCondition", Condition)
@@ -144,6 +156,8 @@ AutorepeatFilter = binary_sensor_ns.class_("AutorepeatFilter", Filter, cg.Compon
 LambdaFilter = binary_sensor_ns.class_("LambdaFilter", Filter)
 SettleFilter = binary_sensor_ns.class_("SettleFilter", Filter, cg.Component)
 
+_LOGGER = getLogger(__name__)
+
 FILTER_REGISTRY = Registry()
 validate_filters = cv.validate_registry("filter", FILTER_REGISTRY)
 
@@ -386,6 +400,14 @@ def validate_click_timing(value):
     return value
 
 
+def validate_publish_initial_state(value):
+    value = cv.boolean(value)
+    _LOGGER.warning(
+        "The 'publish_initial_state' option has been replaced by 'trigger_on_initial_state' and will be removed in a future release"
+    )
+    return value
+
+
 _BINARY_SENSOR_SCHEMA = (
     cv.ENTITY_BASE_SCHEMA.extend(web_server.WEBSERVER_SORTING_SCHEMA)
     .extend(cv.MQTT_COMPONENT_SCHEMA)
@@ -395,7 +417,12 @@ _BINARY_SENSOR_SCHEMA = (
             cv.OnlyWith(CONF_MQTT_ID, "mqtt"): cv.declare_id(
                 mqtt.MQTTBinarySensorComponent
             ),
-            cv.Optional(CONF_PUBLISH_INITIAL_STATE): cv.boolean,
+            cv.Exclusive(
+                CONF_PUBLISH_INITIAL_STATE, CONF_TRIGGER_ON_INITIAL_STATE
+            ): validate_publish_initial_state,
+            cv.Exclusive(
+                CONF_TRIGGER_ON_INITIAL_STATE, CONF_TRIGGER_ON_INITIAL_STATE
+            ): cv.boolean,
             cv.Optional(CONF_DEVICE_CLASS): validate_device_class,
             cv.Optional(CONF_FILTERS): validate_filters,
             cv.Optional(CONF_ON_PRESS): automation.validate_automation(
@@ -454,6 +481,11 @@ _BINARY_SENSOR_SCHEMA = (
                     cv.GenerateID(CONF_TRIGGER_ID): cv.declare_id(StateTrigger),
                 }
             ),
+            cv.Optional(CONF_ON_STATE_CHANGE): automation.validate_automation(
+                {
+                    cv.GenerateID(CONF_TRIGGER_ID): cv.declare_id(StateChangeTrigger),
+                }
+            ),
         }
     )
 )
@@ -493,8 +525,10 @@ async def setup_binary_sensor_core_(var, config):
 
     if (device_class := config.get(CONF_DEVICE_CLASS)) is not None:
         cg.add(var.set_device_class(device_class))
-    if publish_initial_state := config.get(CONF_PUBLISH_INITIAL_STATE):
-        cg.add(var.set_publish_initial_state(publish_initial_state))
+    trigger = config.get(CONF_TRIGGER_ON_INITIAL_STATE, False) or config.get(
+        CONF_PUBLISH_INITIAL_STATE, False
+    )
+    cg.add(var.set_trigger_on_initial_state(trigger))
     if inverted := config.get(CONF_INVERTED):
         cg.add(var.set_inverted(inverted))
     if filters_config := config.get(CONF_FILTERS):
@@ -542,6 +576,17 @@ async def setup_binary_sensor_core_(var, config):
         trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)
         await automation.build_automation(trigger, [(bool, "x")], conf)
 
+    for conf in config.get(CONF_ON_STATE_CHANGE, []):
+        trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)
+        await automation.build_automation(
+            trigger,
+            [
+                (cg.optional.template(bool), "x_previous"),
+                (cg.optional.template(bool), "x"),
+            ],
+            conf,
+        )
+
     if mqtt_id := config.get(CONF_MQTT_ID):
         mqtt_ = cg.new_Pvariable(mqtt_id, var)
         await mqtt.register_mqtt_component(mqtt_, config)
@@ -591,3 +636,18 @@ async def binary_sensor_is_off_to_code(config, condition_id, template_arg, args)
 async def to_code(config):
     cg.add_define("USE_BINARY_SENSOR")
     cg.add_global(binary_sensor_ns.using)
+
+
+@automation.register_action(
+    "binary_sensor.invalidate_state",
+    BinarySensorInvalidateAction,
+    cv.maybe_simple_value(
+        {
+            cv.Required(CONF_ID): cv.use_id(BinarySensor),
+        },
+        key=CONF_ID,
+    ),
+)
+async def binary_sensor_invalidate_state_to_code(config, action_id, template_arg, args):
+    paren = await cg.get_variable(config[CONF_ID])
+    return cg.new_Pvariable(action_id, template_arg, paren)
diff --git a/esphome/components/binary_sensor/automation.h b/esphome/components/binary_sensor/automation.h
index 12b07a05e3..b46436dc41 100644
--- a/esphome/components/binary_sensor/automation.h
+++ b/esphome/components/binary_sensor/automation.h
@@ -96,7 +96,7 @@ class MultiClickTrigger : public Trigger<>, public Component {
       : parent_(parent), timing_(std::move(timing)) {}
 
   void setup() override {
-    this->last_state_ = this->parent_->state;
+    this->last_state_ = this->parent_->get_state_default(false);
     auto f = std::bind(&MultiClickTrigger::on_state_, this, std::placeholders::_1);
     this->parent_->add_on_state_callback(f);
   }
@@ -130,6 +130,14 @@ class StateTrigger : public Trigger<bool> {
   }
 };
 
+class StateChangeTrigger : public Trigger<optional<bool>, optional<bool> > {
+ public:
+  explicit StateChangeTrigger(BinarySensor *parent) {
+    parent->add_full_state_callback(
+        [this](optional<bool> old_state, optional<bool> state) { this->trigger(old_state, state); });
+  }
+};
+
 template<typename... Ts> class BinarySensorCondition : public Condition<Ts...> {
  public:
   BinarySensorCondition(BinarySensor *parent, bool state) : parent_(parent), state_(state) {}
@@ -154,5 +162,15 @@ template<typename... Ts> class BinarySensorPublishAction : public Action<Ts...>
   BinarySensor *sensor_;
 };
 
+template<typename... Ts> class BinarySensorInvalidateAction : public Action<Ts...> {
+ public:
+  explicit BinarySensorInvalidateAction(BinarySensor *sensor) : sensor_(sensor) {}
+
+  void play(Ts... x) override { this->sensor_->invalidate_state(); }
+
+ protected:
+  BinarySensor *sensor_;
+};
+
 }  // namespace binary_sensor
 }  // namespace esphome
diff --git a/esphome/components/binary_sensor/binary_sensor.cpp b/esphome/components/binary_sensor/binary_sensor.cpp
index 20604a0b7e..02b83af552 100644
--- a/esphome/components/binary_sensor/binary_sensor.cpp
+++ b/esphome/components/binary_sensor/binary_sensor.cpp
@@ -7,42 +7,25 @@ namespace binary_sensor {
 
 static const char *const TAG = "binary_sensor";
 
-void BinarySensor::add_on_state_callback(std::function<void(bool)> &&callback) {
-  this->state_callback_.add(std::move(callback));
-}
-
-void BinarySensor::publish_state(bool state) {
-  if (!this->publish_dedup_.next(state))
-    return;
+void BinarySensor::publish_state(bool new_state) {
   if (this->filter_list_ == nullptr) {
-    this->send_state_internal(state, false);
+    this->send_state_internal(new_state);
   } else {
-    this->filter_list_->input(state, false);
+    this->filter_list_->input(new_state);
   }
 }
-void BinarySensor::publish_initial_state(bool state) {
-  if (!this->publish_dedup_.next(state))
-    return;
-  if (this->filter_list_ == nullptr) {
-    this->send_state_internal(state, true);
-  } else {
-    this->filter_list_->input(state, true);
+void BinarySensor::publish_initial_state(bool new_state) {
+  this->invalidate_state();
+  this->publish_state(new_state);
+}
+void BinarySensor::send_state_internal(bool new_state) {
+  // copy the new state to the visible property for backwards compatibility, before any callbacks
+  this->state = new_state;
+  // Note that set_state_ de-dups and will only trigger callbacks if the state has actually changed
+  if (this->set_state_(new_state)) {
+    ESP_LOGD(TAG, "'%s': New state is %s", this->get_name().c_str(), ONOFF(new_state));
   }
 }
-void BinarySensor::send_state_internal(bool state, bool is_initial) {
-  if (is_initial) {
-    ESP_LOGD(TAG, "'%s': Sending initial state %s", this->get_name().c_str(), ONOFF(state));
-  } else {
-    ESP_LOGD(TAG, "'%s': Sending state %s", this->get_name().c_str(), ONOFF(state));
-  }
-  this->has_state_ = true;
-  this->state = state;
-  if (!is_initial || this->publish_initial_state_) {
-    this->state_callback_.call(state);
-  }
-}
-
-BinarySensor::BinarySensor() : state(false) {}
 
 void BinarySensor::add_filter(Filter *filter) {
   filter->parent_ = this;
@@ -60,7 +43,6 @@ void BinarySensor::add_filters(const std::vector<Filter *> &filters) {
     this->add_filter(filter);
   }
 }
-bool BinarySensor::has_state() const { return this->has_state_; }
 bool BinarySensor::is_status_binary_sensor() const { return false; }
 
 }  // namespace binary_sensor
diff --git a/esphome/components/binary_sensor/binary_sensor.h b/esphome/components/binary_sensor/binary_sensor.h
index 57cae9e2f5..d61be7a49b 100644
--- a/esphome/components/binary_sensor/binary_sensor.h
+++ b/esphome/components/binary_sensor/binary_sensor.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include "esphome/core/component.h"
 #include "esphome/core/entity_base.h"
 #include "esphome/core/helpers.h"
 #include "esphome/components/binary_sensor/filter.h"
@@ -34,52 +33,39 @@ namespace binary_sensor {
  * The sub classes should notify the front-end of new states via the publish_state() method which
  * handles inverted inputs for you.
  */
-class BinarySensor : public EntityBase, public EntityBase_DeviceClass {
+class BinarySensor : public StatefulEntityBase<bool>, public EntityBase_DeviceClass {
  public:
-  explicit BinarySensor();
-
-  /** Add a callback to be notified of state changes.
-   *
-   * @param callback The void(bool) callback.
-   */
-  void add_on_state_callback(std::function<void(bool)> &&callback);
+  explicit BinarySensor(){};
 
   /** Publish a new state to the front-end.
    *
-   * @param state The new state.
+   * @param new_state The new state.
    */
-  void publish_state(bool state);
+  void publish_state(bool new_state);
 
   /** Publish the initial state, this will not make the callback manager send callbacks
    * and is meant only for the initial state on boot.
    *
-   * @param state The new state.
+   * @param new_state The new state.
    */
-  void publish_initial_state(bool state);
-
-  /// The current reported state of the binary sensor.
-  bool state{false};
+  void publish_initial_state(bool new_state);
 
   void add_filter(Filter *filter);
   void add_filters(const std::vector<Filter *> &filters);
 
-  void set_publish_initial_state(bool publish_initial_state) { this->publish_initial_state_ = publish_initial_state; }
-
   // ========== INTERNAL METHODS ==========
   // (In most use cases you won't need these)
-  void send_state_internal(bool state, bool is_initial);
+  void send_state_internal(bool new_state);
 
   /// Return whether this binary sensor has outputted a state.
-  virtual bool has_state() const;
-
   virtual bool is_status_binary_sensor() const;
 
+  // For backward compatibility, provide an accessible property
+
+  bool state{};
+
  protected:
-  CallbackManager<void(bool)> state_callback_{};
   Filter *filter_list_{nullptr};
-  bool has_state_{false};
-  bool publish_initial_state_{false};
-  Deduplicator<bool> publish_dedup_;
 };
 
 class BinarySensorInitiallyOff : public BinarySensor {
diff --git a/esphome/components/binary_sensor/filter.cpp b/esphome/components/binary_sensor/filter.cpp
index 8f94b108ac..41d0553b35 100644
--- a/esphome/components/binary_sensor/filter.cpp
+++ b/esphome/components/binary_sensor/filter.cpp
@@ -9,37 +9,36 @@ namespace binary_sensor {
 
 static const char *const TAG = "sensor.filter";
 
-void Filter::output(bool value, bool is_initial) {
+void Filter::output(bool value) {
+  if (this->next_ == nullptr) {
+    this->parent_->send_state_internal(value);
+  } else {
+    this->next_->input(value);
+  }
+}
+void Filter::input(bool value) {
   if (!this->dedup_.next(value))
     return;
-
-  if (this->next_ == nullptr) {
-    this->parent_->send_state_internal(value, is_initial);
-  } else {
-    this->next_->input(value, is_initial);
-  }
-}
-void Filter::input(bool value, bool is_initial) {
-  auto b = this->new_value(value, is_initial);
+  auto b = this->new_value(value);
   if (b.has_value()) {
-    this->output(*b, is_initial);
+    this->output(*b);
   }
 }
 
-optional<bool> DelayedOnOffFilter::new_value(bool value, bool is_initial) {
+optional<bool> DelayedOnOffFilter::new_value(bool value) {
   if (value) {
-    this->set_timeout("ON_OFF", this->on_delay_.value(), [this, is_initial]() { this->output(true, is_initial); });
+    this->set_timeout("ON_OFF", this->on_delay_.value(), [this]() { this->output(true); });
   } else {
-    this->set_timeout("ON_OFF", this->off_delay_.value(), [this, is_initial]() { this->output(false, is_initial); });
+    this->set_timeout("ON_OFF", this->off_delay_.value(), [this]() { this->output(false); });
   }
   return {};
 }
 
 float DelayedOnOffFilter::get_setup_priority() const { return setup_priority::HARDWARE; }
 
-optional<bool> DelayedOnFilter::new_value(bool value, bool is_initial) {
+optional<bool> DelayedOnFilter::new_value(bool value) {
   if (value) {
-    this->set_timeout("ON", this->delay_.value(), [this, is_initial]() { this->output(true, is_initial); });
+    this->set_timeout("ON", this->delay_.value(), [this]() { this->output(true); });
     return {};
   } else {
     this->cancel_timeout("ON");
@@ -49,9 +48,9 @@ optional<bool> DelayedOnFilter::new_value(bool value, bool is_initial) {
 
 float DelayedOnFilter::get_setup_priority() const { return setup_priority::HARDWARE; }
 
-optional<bool> DelayedOffFilter::new_value(bool value, bool is_initial) {
+optional<bool> DelayedOffFilter::new_value(bool value) {
   if (!value) {
-    this->set_timeout("OFF", this->delay_.value(), [this, is_initial]() { this->output(false, is_initial); });
+    this->set_timeout("OFF", this->delay_.value(), [this]() { this->output(false); });
     return {};
   } else {
     this->cancel_timeout("OFF");
@@ -61,11 +60,11 @@ optional<bool> DelayedOffFilter::new_value(bool value, bool is_initial) {
 
 float DelayedOffFilter::get_setup_priority() const { return setup_priority::HARDWARE; }
 
-optional<bool> InvertFilter::new_value(bool value, bool is_initial) { return !value; }
+optional<bool> InvertFilter::new_value(bool value) { return !value; }
 
 AutorepeatFilter::AutorepeatFilter(std::vector<AutorepeatFilterTiming> timings) : timings_(std::move(timings)) {}
 
-optional<bool> AutorepeatFilter::new_value(bool value, bool is_initial) {
+optional<bool> AutorepeatFilter::new_value(bool value) {
   if (value) {
     // Ignore if already running
     if (this->active_timing_ != 0)
@@ -101,7 +100,7 @@ void AutorepeatFilter::next_timing_() {
 
 void AutorepeatFilter::next_value_(bool val) {
   const AutorepeatFilterTiming &timing = this->timings_[this->active_timing_ - 2];
-  this->output(val, false);  // This is at least the second one so not initial
+  this->output(val);  // This is at least the second one so not initial
   this->set_timeout("ON_OFF", val ? timing.time_on : timing.time_off, [this, val]() { this->next_value_(!val); });
 }
 
@@ -109,18 +108,18 @@ float AutorepeatFilter::get_setup_priority() const { return setup_priority::HARD
 
 LambdaFilter::LambdaFilter(std::function<optional<bool>(bool)> f) : f_(std::move(f)) {}
 
-optional<bool> LambdaFilter::new_value(bool value, bool is_initial) { return this->f_(value); }
+optional<bool> LambdaFilter::new_value(bool value) { return this->f_(value); }
 
-optional<bool> SettleFilter::new_value(bool value, bool is_initial) {
+optional<bool> SettleFilter::new_value(bool value) {
   if (!this->steady_) {
-    this->set_timeout("SETTLE", this->delay_.value(), [this, value, is_initial]() {
+    this->set_timeout("SETTLE", this->delay_.value(), [this, value]() {
       this->steady_ = true;
-      this->output(value, is_initial);
+      this->output(value);
     });
     return {};
   } else {
     this->steady_ = false;
-    this->output(value, is_initial);
+    this->output(value);
     this->set_timeout("SETTLE", this->delay_.value(), [this]() { this->steady_ = true; });
     return value;
   }
diff --git a/esphome/components/binary_sensor/filter.h b/esphome/components/binary_sensor/filter.h
index f7342db2fb..65838da49d 100644
--- a/esphome/components/binary_sensor/filter.h
+++ b/esphome/components/binary_sensor/filter.h
@@ -14,11 +14,11 @@ class BinarySensor;
 
 class Filter {
  public:
-  virtual optional<bool> new_value(bool value, bool is_initial) = 0;
+  virtual optional<bool> new_value(bool value) = 0;
 
-  void input(bool value, bool is_initial);
+  void input(bool value);
 
-  void output(bool value, bool is_initial);
+  void output(bool value);
 
  protected:
   friend BinarySensor;
@@ -30,7 +30,7 @@ class Filter {
 
 class DelayedOnOffFilter : public Filter, public Component {
  public:
-  optional<bool> new_value(bool value, bool is_initial) override;
+  optional<bool> new_value(bool value) override;
 
   float get_setup_priority() const override;
 
@@ -44,7 +44,7 @@ class DelayedOnOffFilter : public Filter, public Component {
 
 class DelayedOnFilter : public Filter, public Component {
  public:
-  optional<bool> new_value(bool value, bool is_initial) override;
+  optional<bool> new_value(bool value) override;
 
   float get_setup_priority() const override;
 
@@ -56,7 +56,7 @@ class DelayedOnFilter : public Filter, public Component {
 
 class DelayedOffFilter : public Filter, public Component {
  public:
-  optional<bool> new_value(bool value, bool is_initial) override;
+  optional<bool> new_value(bool value) override;
 
   float get_setup_priority() const override;
 
@@ -68,7 +68,7 @@ class DelayedOffFilter : public Filter, public Component {
 
 class InvertFilter : public Filter {
  public:
-  optional<bool> new_value(bool value, bool is_initial) override;
+  optional<bool> new_value(bool value) override;
 };
 
 struct AutorepeatFilterTiming {
@@ -86,7 +86,7 @@ class AutorepeatFilter : public Filter, public Component {
  public:
   explicit AutorepeatFilter(std::vector<AutorepeatFilterTiming> timings);
 
-  optional<bool> new_value(bool value, bool is_initial) override;
+  optional<bool> new_value(bool value) override;
 
   float get_setup_priority() const override;
 
@@ -102,7 +102,7 @@ class LambdaFilter : public Filter {
  public:
   explicit LambdaFilter(std::function<optional<bool>(bool)> f);
 
-  optional<bool> new_value(bool value, bool is_initial) override;
+  optional<bool> new_value(bool value) override;
 
  protected:
   std::function<optional<bool>(bool)> f_;
@@ -110,7 +110,7 @@ class LambdaFilter : public Filter {
 
 class SettleFilter : public Filter, public Component {
  public:
-  optional<bool> new_value(bool value, bool is_initial) override;
+  optional<bool> new_value(bool value) override;
 
   float get_setup_priority() const override;
 
diff --git a/esphome/components/const/__init__.py b/esphome/components/const/__init__.py
index a73849e67d..66a5fe5d81 100644
--- a/esphome/components/const/__init__.py
+++ b/esphome/components/const/__init__.py
@@ -3,4 +3,5 @@
 CODEOWNERS = ["@esphome/core"]
 
 CONF_DRAW_ROUNDING = "draw_rounding"
+CONF_ON_STATE_CHANGE = "on_state_change"
 CONF_REQUEST_HEADERS = "request_headers"
diff --git a/esphome/components/template/binary_sensor/template_binary_sensor.cpp b/esphome/components/template/binary_sensor/template_binary_sensor.cpp
index 5ce8894a8a..d1fb618695 100644
--- a/esphome/components/template/binary_sensor/template_binary_sensor.cpp
+++ b/esphome/components/template/binary_sensor/template_binary_sensor.cpp
@@ -6,16 +6,8 @@ namespace template_ {
 
 static const char *const TAG = "template.binary_sensor";
 
-void TemplateBinarySensor::setup() {
-  if (!this->publish_initial_state_)
-    return;
+void TemplateBinarySensor::setup() { this->loop(); }
 
-  if (this->f_ != nullptr) {
-    this->publish_initial_state(this->f_().value_or(false));
-  } else {
-    this->publish_initial_state(false);
-  }
-}
 void TemplateBinarySensor::loop() {
   if (this->f_ == nullptr)
     return;
diff --git a/esphome/components/web_server/web_server.cpp b/esphome/components/web_server/web_server.cpp
index 870932d266..7ae30522f4 100644
--- a/esphome/components/web_server/web_server.cpp
+++ b/esphome/components/web_server/web_server.cpp
@@ -555,7 +555,7 @@ std::string WebServer::button_json(button::Button *obj, JsonDetail start_config)
 #endif
 
 #ifdef USE_BINARY_SENSOR
-void WebServer::on_binary_sensor_update(binary_sensor::BinarySensor *obj, bool state) {
+void WebServer::on_binary_sensor_update(binary_sensor::BinarySensor *obj) {
   if (this->events_.empty())
     return;
   this->events_.deferrable_send_state(obj, "state", binary_sensor_state_json_generator);
diff --git a/esphome/components/web_server/web_server.h b/esphome/components/web_server/web_server.h
index e4f044c50b..f4d6ad8e86 100644
--- a/esphome/components/web_server/web_server.h
+++ b/esphome/components/web_server/web_server.h
@@ -269,7 +269,7 @@ class WebServer : public Controller, public Component, public AsyncWebHandler {
 #endif
 
 #ifdef USE_BINARY_SENSOR
-  void on_binary_sensor_update(binary_sensor::BinarySensor *obj, bool state) override;
+  void on_binary_sensor_update(binary_sensor::BinarySensor *obj) override;
 
   /// Handle a binary sensor request under '/binary_sensor/<id>'.
   void handle_binary_sensor_request(AsyncWebServerRequest *request, const UrlMatch &match);
diff --git a/esphome/core/controller.cpp b/esphome/core/controller.cpp
index d6d98a4316..f7ff5a9734 100644
--- a/esphome/core/controller.cpp
+++ b/esphome/core/controller.cpp
@@ -7,8 +7,10 @@ namespace esphome {
 void Controller::setup_controller(bool include_internal) {
 #ifdef USE_BINARY_SENSOR
   for (auto *obj : App.get_binary_sensors()) {
-    if (include_internal || !obj->is_internal())
-      obj->add_on_state_callback([this, obj](bool state) { this->on_binary_sensor_update(obj, state); });
+    if (include_internal || !obj->is_internal()) {
+      obj->add_full_state_callback(
+          [this, obj](optional<bool> previous, optional<bool> state) { this->on_binary_sensor_update(obj); });
+    }
   }
 #endif
 #ifdef USE_FAN
diff --git a/esphome/core/controller.h b/esphome/core/controller.h
index 39e0b2ba26..1a5b9ea6b4 100644
--- a/esphome/core/controller.h
+++ b/esphome/core/controller.h
@@ -71,7 +71,7 @@ class Controller {
  public:
   void setup_controller(bool include_internal = false);
 #ifdef USE_BINARY_SENSOR
-  virtual void on_binary_sensor_update(binary_sensor::BinarySensor *obj, bool state){};
+  virtual void on_binary_sensor_update(binary_sensor::BinarySensor *obj){};
 #endif
 #ifdef USE_FAN
   virtual void on_fan_update(fan::Fan *obj){};
diff --git a/esphome/core/entity_base.h b/esphome/core/entity_base.h
index 4ca21f9ee5..a2e1d4adbc 100644
--- a/esphome/core/entity_base.h
+++ b/esphome/core/entity_base.h
@@ -3,6 +3,8 @@
 #include <string>
 #include <cstdint>
 #include "string_ref.h"
+#include "helpers.h"
+#include "log.h"
 
 namespace esphome {
 
@@ -29,7 +31,7 @@ class EntityBase {
   // Get the unique Object ID of this Entity
   uint32_t get_object_id_hash();
 
-  // Get/set whether this Entity should be hidden from outside of ESPHome
+  // Get/set whether this Entity should be hidden outside ESPHome
   bool is_internal() const;
   void set_internal(bool internal);
 
@@ -56,11 +58,12 @@ class EntityBase {
   StringRef name_;
   const char *object_id_c_str_{nullptr};
   const char *icon_c_str_{nullptr};
-  uint32_t object_id_hash_;
+  uint32_t object_id_hash_{};
   bool has_own_name_{false};
   bool internal_{false};
   bool disabled_by_default_{false};
   EntityCategory entity_category_{ENTITY_CATEGORY_NONE};
+  bool has_state_{};
 };
 
 class EntityBase_DeviceClass {  // NOLINT(readability-identifier-naming)
@@ -85,4 +88,58 @@ class EntityBase_UnitOfMeasurement {  // NOLINT(readability-identifier-naming)
   const char *unit_of_measurement_{nullptr};  ///< Unit of measurement override
 };
 
+/**
+ * An entity that has a state.
+ * @tparam T The type of the state
+ */
+template<typename T> class StatefulEntityBase : public EntityBase {
+ public:
+  virtual bool has_state() const { return this->state_.has_value(); }
+  virtual const T &get_state() const { return this->state_.value(); }
+  virtual T get_state_default(T default_value) const { return this->state_.value_or(default_value); }
+  void invalidate_state() { this->set_state_({}); }
+
+  void add_full_state_callback(std::function<void(optional<T> previous, optional<T> current)> &&callback) {
+    if (this->full_state_callbacks_ == nullptr)
+      this->full_state_callbacks_ = new CallbackManager<void(optional<T> previous, optional<T> current)>();  // NOLINT
+    this->full_state_callbacks_->add(std::move(callback));
+  }
+  void add_on_state_callback(std::function<void(T)> &&callback) {
+    if (this->state_callbacks_ == nullptr)
+      this->state_callbacks_ = new CallbackManager<void(T)>();  // NOLINT
+    this->state_callbacks_->add(std::move(callback));
+  }
+
+  void set_trigger_on_initial_state(bool trigger_on_initial_state) {
+    this->trigger_on_initial_state_ = trigger_on_initial_state;
+  }
+
+ protected:
+  optional<T> state_{};
+  /**
+   * Set a new state for this entity. This will trigger callbacks only if the new state is different from the previous.
+   *
+   * @param state The new state.
+   * @return True if the state was changed, false if it was the same as before.
+   */
+  bool set_state_(const optional<T> &state) {
+    if (this->state_ != state) {
+      // call the full state callbacks with the previous and new state
+      if (this->full_state_callbacks_ != nullptr)
+        this->full_state_callbacks_->call(this->state_, state);
+      // trigger legacy callbacks only if the new state is valid and either the trigger on initial state is enabled or
+      // the previous state was valid
+      auto had_state = this->has_state();
+      this->state_ = state;
+      if (this->state_callbacks_ != nullptr && state.has_value() && (this->trigger_on_initial_state_ || had_state))
+        this->state_callbacks_->call(state.value());
+      return true;
+    }
+    return false;
+  }
+  bool trigger_on_initial_state_{true};
+  // callbacks with full state and previous state
+  CallbackManager<void(optional<T> previous, optional<T> current)> *full_state_callbacks_{};
+  CallbackManager<void(T)> *state_callbacks_{};
+};
 }  // namespace esphome
diff --git a/esphome/core/log.h b/esphome/core/log.h
index adf72e4bac..cade6a74c1 100644
--- a/esphome/core/log.h
+++ b/esphome/core/log.h
@@ -165,6 +165,8 @@ int esp_idf_log_vprintf_(const char *format, va_list args);  // NOLINT
 #define YESNO(b) ((b) ? "YES" : "NO")
 #define ONOFF(b) ((b) ? "ON" : "OFF")
 #define TRUEFALSE(b) ((b) ? "TRUE" : "FALSE")
+// for use with optional values
+#define ONOFFMAYBE(b) (((b).has_value()) ? ONOFF((b).value()) : "UNKNOWN")
 
 // Helper class that identifies strings that may be stored in flash storage (similar to Arduino's __FlashStringHelper)
 struct LogString;
diff --git a/esphome/core/optional.h b/esphome/core/optional.h
index 591bc7aa68..7f9db7817d 100644
--- a/esphome/core/optional.h
+++ b/esphome/core/optional.h
@@ -52,6 +52,11 @@ template<typename T> class optional {  // NOLINT
     reset();
     return *this;
   }
+  bool operator==(optional<T> const &rhs) const {
+    if (has_value() && rhs.has_value())
+      return value() == rhs.value();
+    return !has_value() && !rhs.has_value();
+  }
 
   template<class U> optional &operator=(optional<U> const &other) {
     has_value_ = other.has_value();
diff --git a/tests/components/binary_sensor/common.yaml b/tests/components/binary_sensor/common.yaml
new file mode 100644
index 0000000000..148b7d2405
--- /dev/null
+++ b/tests/components/binary_sensor/common.yaml
@@ -0,0 +1,15 @@
+binary_sensor:
+  - platform: template
+    trigger_on_initial_state: true
+    id: some_binary_sensor
+    name: "Random binary"
+    lambda: return (random_uint32() & 1) == 0;
+    on_state_change:
+      then:
+        - logger.log:
+            format: "Old state was %s"
+            args: ['x_previous.has_value() ? ONOFF(x_previous) : "Unknown"']
+        - logger.log:
+            format: "New state is %s"
+            args: ['x.has_value() ? ONOFF(x) : "Unknown"']
+        - binary_sensor.invalidate_state: some_binary_sensor
diff --git a/tests/components/binary_sensor/test.bk72xx-ard.yaml b/tests/components/binary_sensor/test.bk72xx-ard.yaml
new file mode 100644
index 0000000000..25cb37a0b4
--- /dev/null
+++ b/tests/components/binary_sensor/test.bk72xx-ard.yaml
@@ -0,0 +1,2 @@
+packages:
+  common: !include common.yaml
diff --git a/tests/components/binary_sensor/test.esp32-ard.yaml b/tests/components/binary_sensor/test.esp32-ard.yaml
new file mode 100644
index 0000000000..25cb37a0b4
--- /dev/null
+++ b/tests/components/binary_sensor/test.esp32-ard.yaml
@@ -0,0 +1,2 @@
+packages:
+  common: !include common.yaml
diff --git a/tests/components/binary_sensor/test.esp32-c3-ard.yaml b/tests/components/binary_sensor/test.esp32-c3-ard.yaml
new file mode 100644
index 0000000000..25cb37a0b4
--- /dev/null
+++ b/tests/components/binary_sensor/test.esp32-c3-ard.yaml
@@ -0,0 +1,2 @@
+packages:
+  common: !include common.yaml
diff --git a/tests/components/binary_sensor/test.esp32-c3-idf.yaml b/tests/components/binary_sensor/test.esp32-c3-idf.yaml
new file mode 100644
index 0000000000..25cb37a0b4
--- /dev/null
+++ b/tests/components/binary_sensor/test.esp32-c3-idf.yaml
@@ -0,0 +1,2 @@
+packages:
+  common: !include common.yaml
diff --git a/tests/components/binary_sensor/test.esp32-idf.yaml b/tests/components/binary_sensor/test.esp32-idf.yaml
new file mode 100644
index 0000000000..25cb37a0b4
--- /dev/null
+++ b/tests/components/binary_sensor/test.esp32-idf.yaml
@@ -0,0 +1,2 @@
+packages:
+  common: !include common.yaml
diff --git a/tests/components/binary_sensor/test.esp32-s3-idf.yaml b/tests/components/binary_sensor/test.esp32-s3-idf.yaml
new file mode 100644
index 0000000000..25cb37a0b4
--- /dev/null
+++ b/tests/components/binary_sensor/test.esp32-s3-idf.yaml
@@ -0,0 +1,2 @@
+packages:
+  common: !include common.yaml
diff --git a/tests/components/binary_sensor/test.esp8266-ard.yaml b/tests/components/binary_sensor/test.esp8266-ard.yaml
new file mode 100644
index 0000000000..25cb37a0b4
--- /dev/null
+++ b/tests/components/binary_sensor/test.esp8266-ard.yaml
@@ -0,0 +1,2 @@
+packages:
+  common: !include common.yaml
diff --git a/tests/components/binary_sensor/test.rp2040-ard.yaml b/tests/components/binary_sensor/test.rp2040-ard.yaml
new file mode 100644
index 0000000000..25cb37a0b4
--- /dev/null
+++ b/tests/components/binary_sensor/test.rp2040-ard.yaml
@@ -0,0 +1,2 @@
+packages:
+  common: !include common.yaml
diff --git a/tests/components/lvgl/common.yaml b/tests/components/lvgl/common.yaml
index 174df56749..59602414a7 100644
--- a/tests/components/lvgl/common.yaml
+++ b/tests/components/lvgl/common.yaml
@@ -63,7 +63,7 @@ binary_sensor:
     id: lvgl_pressbutton
     name: Pressbutton
     widget: spin_up
-    publish_initial_state: true
+    trigger_on_initial_state: true
   - platform: lvgl
     name: ButtonMatrix button
     widget: button_a