diff --git a/esphome/components/esp32_touch/esp32_touch_v1.cpp b/esphome/components/esp32_touch/esp32_touch_v1.cpp
index 18d0739f47..a6d499e9fa 100644
--- a/esphome/components/esp32_touch/esp32_touch_v1.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_v1.cpp
@@ -132,10 +132,7 @@ void ESP32TouchComponent::loop() {
     // Handle initial state publication after startup
     this->publish_initial_state_if_needed_(child, now);
 
-    if (!this->initial_state_published_[pad]) {
-      // Not yet published, don't count as off
-      continue;
-    } else if (child->last_state_) {
+    if (child->last_state_) {
       // Pad is currently in touched state - check for release timeout
       // Using subtraction handles 32-bit rollover correctly
       uint32_t time_diff = now - this->last_touch_time_[pad];
diff --git a/esphome/components/esp32_touch/esp32_touch_v2.cpp b/esphome/components/esp32_touch/esp32_touch_v2.cpp
index 1d0b30dfcb..6db4da1768 100644
--- a/esphome/components/esp32_touch/esp32_touch_v2.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_v2.cpp
@@ -316,10 +316,7 @@ void ESP32TouchComponent::loop() {
     // Handle initial state publication after startup
     this->publish_initial_state_if_needed_(child, now);
 
-    if (!this->initial_state_published_[pad]) {
-      // Not yet published, don't count as off
-      continue;
-    } else if (child->last_state_) {
+    if (child->last_state_) {
       // Pad is currently in touched state - check for release timeout
       // Using subtraction handles 32-bit rollover correctly
       uint32_t time_diff = now - this->last_touch_time_[pad];