diff --git a/esphome/components/esp32_ble/ble.cpp b/esphome/components/esp32_ble/ble.cpp
index 143be06e3b..ecd591d169 100644
--- a/esphome/components/esp32_ble/ble.cpp
+++ b/esphome/components/esp32_ble/ble.cpp
@@ -56,6 +56,12 @@ bool ESP32BLE::ble_setup_() {
     return false;
   }
 
+#ifdef USE_ARDUINO
+  if (!btStart()) {
+    ESP_LOGE(TAG, "btStart failed: %d", esp_bt_controller_get_status());
+    return false;
+  }
+#else
   if (esp_bt_controller_get_status() != ESP_BT_CONTROLLER_STATUS_ENABLED) {
     // start bt controller
     if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_IDLE) {
@@ -80,6 +86,7 @@ bool ESP32BLE::ble_setup_() {
       return false;
     }
   }
+#endif
 
   esp_bt_controller_mem_release(ESP_BT_MODE_CLASSIC_BT);
 
diff --git a/esphome/components/esp32_ble_beacon/esp32_ble_beacon.cpp b/esphome/components/esp32_ble_beacon/esp32_ble_beacon.cpp
index 96afadd19a..f6bab8e6df 100644
--- a/esphome/components/esp32_ble_beacon/esp32_ble_beacon.cpp
+++ b/esphome/components/esp32_ble_beacon/esp32_ble_beacon.cpp
@@ -12,6 +12,10 @@
 #include <cstring>
 #include "esphome/core/hal.h"
 
+#ifdef USE_ARDUINO
+#include <esp32-hal-bt.h>
+#endif
+
 namespace esphome {
 namespace esp32_ble_beacon {
 
@@ -70,6 +74,12 @@ void ESP32BLEBeacon::ble_setup() {
     return;
   }
 
+#ifdef USE_ARDUINO
+  if (!btStart()) {
+    ESP_LOGE(TAG, "btStart failed: %d", esp_bt_controller_get_status());
+    return;
+  }
+#else
   if (esp_bt_controller_get_status() != ESP_BT_CONTROLLER_STATUS_ENABLED) {
     // start bt controller
     if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_IDLE) {
@@ -94,6 +104,7 @@ void ESP32BLEBeacon::ble_setup() {
       return;
     }
   }
+#endif
 
   esp_bt_controller_mem_release(ESP_BT_MODE_CLASSIC_BT);
 
diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index 9e987a994a..95176bb179 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -132,6 +132,12 @@ bool ESP32BLETracker::ble_setup() {
     return false;
   }
 
+#ifdef USE_ARDUINO
+  if (!btStart()) {
+    ESP_LOGE(TAG, "btStart failed: %d", esp_bt_controller_get_status());
+    return false;
+  }
+#else
   if (esp_bt_controller_get_status() != ESP_BT_CONTROLLER_STATUS_ENABLED) {
     // start bt controller
     if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_IDLE) {
@@ -156,6 +162,7 @@ bool ESP32BLETracker::ble_setup() {
       return false;
     }
   }
+#endif
 
   esp_bt_controller_mem_release(ESP_BT_MODE_CLASSIC_BT);