diff --git a/esphome/components/pid/pid_climate.cpp b/esphome/components/pid/pid_climate.cpp
index 118742b470..4f0b9c98c4 100644
--- a/esphome/components/pid/pid_climate.cpp
+++ b/esphome/components/pid/pid_climate.cpp
@@ -47,8 +47,7 @@ void PIDClimate::control(const climate::ClimateCall &call) {
     this->target_temperature = *call.get_target_temperature();
 
   // If switching to off mode, set output immediately
-  if (this->mode == climate::CLIMATE_MODE_OFF)
-    this->write_output_(0.0f);
+  this->write_output_();
 
   this->publish_state();
 }
@@ -102,8 +101,8 @@ float PIDClimate::value_by_mode_(float value) {
       return value;
   }
 }
-void PIDClimate::write_output_(float value) {
-  this->output_value_ = value;
+void PIDClimate::write_output_() {
+  const float value = this->value_by_mode_(this->output_value_);
 
   // first ensure outputs are off (both outputs not active at the same time)
   if (this->supports_cool_() && value >= 0)
@@ -159,7 +158,8 @@ void PIDClimate::update_pid_() {
     }
   }
 
-  this->write_output_(this->value_by_mode_(value));
+  this->output_value_ = value;
+  this->write_output_();
 
   if (this->do_publish_)
     this->publish_state();
diff --git a/esphome/components/pid/pid_climate.h b/esphome/components/pid/pid_climate.h
index d8fe8f0f6c..70b3ca1623 100644
--- a/esphome/components/pid/pid_climate.h
+++ b/esphome/components/pid/pid_climate.h
@@ -87,7 +87,7 @@ class PIDClimate : public climate::Climate, public Component {
   /// Return cloest possible output value with respect to mode
   float value_by_mode_(float value) const;
 
-  void write_output_(float value);
+  void write_output_();
 
   /// The sensor used for getting the current temperature
   sensor::Sensor *sensor_;