diff --git a/esphome/components/api/api_connection.cpp b/esphome/components/api/api_connection.cpp
index d5ab00a822..4ebfb7582e 100644
--- a/esphome/components/api/api_connection.cpp
+++ b/esphome/components/api/api_connection.cpp
@@ -118,7 +118,9 @@ void APIConnection::loop() {
   this->list_entities_iterator_.advance();
   this->initial_state_iterator_.advance();
 
-  const uint32_t keepalive = 60000;
+  static uint32_t keepalive = 60000;
+  static uint8_t max_ping_retries = 60;
+  static uint16_t ping_retry_interval = 1000;
   const uint32_t now = millis();
   if (this->sent_ping_) {
     // Disconnect if not responded within 2.5*keepalive
@@ -126,10 +128,24 @@ void APIConnection::loop() {
       on_fatal_error();
       ESP_LOGW(TAG, "%s didn't respond to ping request in time. Disconnecting...", this->client_combined_info_.c_str());
     }
-  } else if (now - this->last_traffic_ > keepalive) {
+  } else if (now - this->last_traffic_ > keepalive && now > this->next_ping_retry_) {
     ESP_LOGVV(TAG, "Sending keepalive PING...");
-    this->sent_ping_ = true;
-    this->send_ping_request(PingRequest());
+    this->sent_ping_ = this->send_ping_request(PingRequest());
+    if (!this->sent_ping_) {
+      this->next_ping_retry_ = now + ping_retry_interval;
+      this->ping_retries_++;
+      if (this->ping_retries_ >= max_ping_retries) {
+        on_fatal_error();
+        ESP_LOGE(TAG, "%s: Sending keepalive failed %d time(s). Disconnecting...", this->client_combined_info_.c_str(),
+                 this->ping_retries_);
+      } else if (this->ping_retries_ >= 10) {
+        ESP_LOGW(TAG, "%s: Sending keepalive failed %d time(s), will retry in %d ms",
+                 this->client_combined_info_.c_str(), this->ping_retries_, ping_retry_interval);
+      } else {
+        ESP_LOGD(TAG, "%s: Sending keepalive failed %d time(s), will retry in %d ms",
+                 this->client_combined_info_.c_str(), this->ping_retries_, ping_retry_interval);
+      }
+    }
   }
 
 #ifdef USE_ESP32_CAMERA
diff --git a/esphome/components/api/api_connection.h b/esphome/components/api/api_connection.h
index 09b595bb71..9d01468807 100644
--- a/esphome/components/api/api_connection.h
+++ b/esphome/components/api/api_connection.h
@@ -140,6 +140,7 @@ class APIConnection : public APIServerConnection {
   void on_disconnect_response(const DisconnectResponse &value) override;
   void on_ping_response(const PingResponse &value) override {
     // we initiated ping
+    this->ping_retries_ = 0;
     this->sent_ping_ = false;
   }
   void on_home_assistant_state_response(const HomeAssistantStateResponse &msg) override;
@@ -217,6 +218,8 @@ class APIConnection : public APIServerConnection {
   bool state_subscription_{false};
   int log_subscription_{ESPHOME_LOG_LEVEL_NONE};
   uint32_t last_traffic_;
+  uint32_t next_ping_retry_{0};
+  uint8_t ping_retries_{0};
   bool sent_ping_{false};
   bool service_call_subscription_{false};
   bool next_close_ = false;
diff --git a/esphome/components/api/api_pb2.cpp b/esphome/components/api/api_pb2.cpp
index 8dd34e7ef1..f81bf04e99 100644
--- a/esphome/components/api/api_pb2.cpp
+++ b/esphome/components/api/api_pb2.cpp
@@ -3848,6 +3848,7 @@ void ListEntitiesClimateResponse::dump_to(std::string &out) const {
   sprintf(buffer, "%g", this->visual_max_humidity);
   out.append(buffer);
   out.append("\n");
+  out.append("}");
 }
 #endif
 bool ClimateStateResponse::decode_varint(uint32_t field_id, ProtoVarInt value) {
@@ -4015,6 +4016,7 @@ void ClimateStateResponse::dump_to(std::string &out) const {
   sprintf(buffer, "%g", this->target_humidity);
   out.append(buffer);
   out.append("\n");
+  out.append("}");
 }
 #endif
 bool ClimateCommandRequest::decode_varint(uint32_t field_id, ProtoVarInt value) {
diff --git a/esphome/components/htu21d/htu21d.cpp b/esphome/components/htu21d/htu21d.cpp
index a8133ae32e..d0dbb15a43 100644
--- a/esphome/components/htu21d/htu21d.cpp
+++ b/esphome/components/htu21d/htu21d.cpp
@@ -39,45 +39,54 @@ void HTU21DComponent::dump_config() {
   LOG_SENSOR("  ", "Humidity", this->humidity_);
 }
 void HTU21DComponent::update() {
-  uint16_t raw_temperature;
   if (this->write(&HTU21D_REGISTER_TEMPERATURE, 1) != i2c::ERROR_OK) {
     this->status_set_warning();
     return;
   }
-  delay(50);  // NOLINT
-  if (this->read(reinterpret_cast<uint8_t *>(&raw_temperature), 2) != i2c::ERROR_OK) {
-    this->status_set_warning();
-    return;
-  }
-  raw_temperature = i2c::i2ctohs(raw_temperature);
 
-  float temperature = (float(raw_temperature & 0xFFFC)) * 175.72f / 65536.0f - 46.85f;
+  // According to the datasheet sht21 temperature readings can take up to 85ms
+  this->set_timeout(85, [this]() {
+    uint16_t raw_temperature;
+    if (this->read(reinterpret_cast<uint8_t *>(&raw_temperature), 2) != i2c::ERROR_OK) {
+      this->status_set_warning();
+      return;
+    }
+    raw_temperature = i2c::i2ctohs(raw_temperature);
 
-  uint16_t raw_humidity;
-  if (this->write(&HTU21D_REGISTER_HUMIDITY, 1) != i2c::ERROR_OK) {
-    this->status_set_warning();
-    return;
-  }
-  delay(50);  // NOLINT
-  if (this->read(reinterpret_cast<uint8_t *>(&raw_humidity), 2) != i2c::ERROR_OK) {
-    this->status_set_warning();
-    return;
-  }
-  raw_humidity = i2c::i2ctohs(raw_humidity);
+    float temperature = (float(raw_temperature & 0xFFFC)) * 175.72f / 65536.0f - 46.85f;
 
-  float humidity = (float(raw_humidity & 0xFFFC)) * 125.0f / 65536.0f - 6.0f;
+    ESP_LOGD(TAG, "Got Temperature=%.1f°C", temperature);
 
-  int8_t heater_level = this->get_heater_level();
+    if (this->temperature_ != nullptr)
+      this->temperature_->publish_state(temperature);
+    this->status_clear_warning();
 
-  ESP_LOGD(TAG, "Got Temperature=%.1f°C Humidity=%.1f%% Heater Level=%d", temperature, humidity, heater_level);
+    if (this->write(&HTU21D_REGISTER_HUMIDITY, 1) != i2c::ERROR_OK) {
+      this->status_set_warning();
+      return;
+    }
 
-  if (this->temperature_ != nullptr)
-    this->temperature_->publish_state(temperature);
-  if (this->humidity_ != nullptr)
-    this->humidity_->publish_state(humidity);
-  if (this->heater_ != nullptr)
-    this->heater_->publish_state(heater_level);
-  this->status_clear_warning();
+    this->set_timeout(50, [this]() {
+      uint16_t raw_humidity;
+      if (this->read(reinterpret_cast<uint8_t *>(&raw_humidity), 2) != i2c::ERROR_OK) {
+        this->status_set_warning();
+        return;
+      }
+      raw_humidity = i2c::i2ctohs(raw_humidity);
+
+      float humidity = (float(raw_humidity & 0xFFFC)) * 125.0f / 65536.0f - 6.0f;
+
+      int8_t heater_level = this->get_heater_level();
+
+      ESP_LOGD(TAG, "Got Humidity=%.1f%% Heater Level=%d", humidity, heater_level);
+
+      if (this->humidity_ != nullptr)
+        this->humidity_->publish_state(humidity);
+      if (this->heater_ != nullptr)
+        this->heater_->publish_state(heater_level);
+      this->status_clear_warning();
+    });
+  });
 }
 
 bool HTU21DComponent::is_heater_enabled() {
diff --git a/esphome/config.py b/esphome/config.py
index e9433d537e..4aca0d6056 100644
--- a/esphome/config.py
+++ b/esphome/config.py
@@ -315,7 +315,11 @@ class LoadValidationStep(ConfigValidationStep):
             return
         result.add_output_path([self.domain], self.domain)
         component = get_component(self.domain)
-        if component.multi_conf_no_default and isinstance(self.conf, core.AutoLoad):
+        if (
+            component is not None
+            and component.multi_conf_no_default
+            and isinstance(self.conf, core.AutoLoad)
+        ):
             self.conf = []
         result[self.domain] = self.conf
         path = [self.domain]
diff --git a/esphome/const.py b/esphome/const.py
index 5fa2d91e33..8844b11a19 100644
--- a/esphome/const.py
+++ b/esphome/const.py
@@ -1,6 +1,6 @@
 """Constants used by esphome."""
 
-__version__ = "2023.12.2"
+__version__ = "2023.12.3"
 
 ALLOWED_NAME_CHARS = "abcdefghijklmnopqrstuvwxyz0123456789-_"
 VALID_SUBSTITUTIONS_CHARACTERS = (
diff --git a/esphome/dashboard/web_server.py b/esphome/dashboard/web_server.py
index c4b84d3fe3..6a80865906 100644
--- a/esphome/dashboard/web_server.py
+++ b/esphome/dashboard/web_server.py
@@ -301,11 +301,16 @@ class EsphomePortCommandWebSocket(EsphomeCommandWebSocket):
         config_file = settings.rel_path(configuration)
         port = json_message["port"]
         if (
-            port == "OTA"
+            port == "OTA"  # pylint: disable=too-many-boolean-expressions
             and (mdns := dashboard.mdns_status)
             and (entry := entries.get(config_file))
+            and entry.loaded_integrations
+            and "api" in entry.loaded_integrations
             and (address := await mdns.async_resolve_host(entry.name))
         ):
+            # Use the IP address if available but only
+            # if the API is loaded and the device is online
+            # since MQTT logging will not work otherwise
             port = address
 
         return [