diff --git a/esphome/components/esp32_ble/__init__.py b/esphome/components/esp32_ble/__init__.py
index c6bb296cdc..3dc4af1058 100644
--- a/esphome/components/esp32_ble/__init__.py
+++ b/esphome/components/esp32_ble/__init__.py
@@ -6,13 +6,19 @@ from esphome.components.esp32 import add_idf_sdkconfig_option, get_esp32_variant
 
 DEPENDENCIES = ["esp32"]
 CODEOWNERS = ["@jesserockz"]
-CONFLICTS_WITH = ["esp32_ble_tracker", "esp32_ble_beacon"]
+CONFLICTS_WITH = ["esp32_ble_beacon"]
+
+CONF_BLE_ID = "ble_id"
 
 NO_BLUTOOTH_VARIANTS = [const.VARIANT_ESP32S2]
 
 esp32_ble_ns = cg.esphome_ns.namespace("esp32_ble")
 ESP32BLE = esp32_ble_ns.class_("ESP32BLE", cg.Component)
 
+GAPEventHandler = esp32_ble_ns.class_("GAPEventHandler")
+GATTcEventHandler = esp32_ble_ns.class_("GATTcEventHandler")
+GATTsEventHandler = esp32_ble_ns.class_("GATTsEventHandler")
+
 
 CONFIG_SCHEMA = cv.Schema(
     {
diff --git a/esphome/components/esp32_ble/ble.cpp b/esphome/components/esp32_ble/ble.cpp
index ecd591d169..456332b748 100644
--- a/esphome/components/esp32_ble/ble.cpp
+++ b/esphome/components/esp32_ble/ble.cpp
@@ -4,13 +4,13 @@
 #include "esphome/core/application.h"
 #include "esphome/core/log.h"
 
-#include <nvs_flash.h>
-#include <freertos/FreeRTOSConfig.h>
-#include <esp_bt_main.h>
 #include <esp_bt.h>
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
+#include <esp_bt_main.h>
 #include <esp_gap_ble_api.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/FreeRTOSConfig.h>
+#include <freertos/task.h>
+#include <nvs_flash.h>
 
 #ifdef USE_ARDUINO
 #include <esp32-hal-bt.h>
@@ -40,15 +40,6 @@ void ESP32BLE::setup() {
   ESP_LOGD(TAG, "BLE setup complete");
 }
 
-void ESP32BLE::mark_failed() {
-  Component::mark_failed();
-#ifdef USE_ESP32_BLE_SERVER
-  if (this->server_ != nullptr) {
-    this->server_->mark_failed();
-  }
-#endif
-}
-
 bool ESP32BLE::ble_setup_() {
   esp_err_t err = nvs_flash_init();
   if (err != ESP_OK) {
@@ -100,13 +91,16 @@ bool ESP32BLE::ble_setup_() {
     ESP_LOGE(TAG, "esp_bluedroid_enable failed: %d", err);
     return false;
   }
-  err = esp_ble_gap_register_callback(ESP32BLE::gap_event_handler);
-  if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_ble_gap_register_callback failed: %d", err);
-    return false;
+
+  if (!this->gap_event_handlers_.empty()) {
+    err = esp_ble_gap_register_callback(ESP32BLE::gap_event_handler);
+    if (err != ESP_OK) {
+      ESP_LOGE(TAG, "esp_ble_gap_register_callback failed: %d", err);
+      return false;
+    }
   }
 
-  if (this->has_server()) {
+  if (!this->gatts_event_handlers_.empty()) {
     err = esp_ble_gatts_register_callback(ESP32BLE::gatts_event_handler);
     if (err != ESP_OK) {
       ESP_LOGE(TAG, "esp_ble_gatts_register_callback failed: %d", err);
@@ -114,7 +108,7 @@ bool ESP32BLE::ble_setup_() {
     }
   }
 
-  if (this->has_client()) {
+  if (!this->gattc_event_handlers_.empty()) {
     err = esp_ble_gattc_register_callback(ESP32BLE::gattc_event_handler);
     if (err != ESP_OK) {
       ESP_LOGE(TAG, "esp_ble_gattc_register_callback failed: %d", err);
@@ -158,6 +152,10 @@ void ESP32BLE::loop() {
         this->real_gatts_event_handler_(ble_event->event_.gatts.gatts_event, ble_event->event_.gatts.gatts_if,
                                         &ble_event->event_.gatts.gatts_param);
         break;
+      case BLEEvent::GATTC:
+        this->real_gattc_event_handler_(ble_event->event_.gattc.gattc_event, ble_event->event_.gattc.gattc_if,
+                                        &ble_event->event_.gattc.gattc_param);
+        break;
       case BLEEvent::GAP:
         this->real_gap_event_handler_(ble_event->event_.gap.gap_event, &ble_event->event_.gap.gap_param);
         break;
@@ -176,9 +174,8 @@ void ESP32BLE::gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_pa
 
 void ESP32BLE::real_gap_event_handler_(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) {
   ESP_LOGV(TAG, "(BLE) gap_event_handler - %d", event);
-  switch (event) {
-    default:
-      break;
+  for (auto *gap_handler : this->gap_event_handlers_) {
+    gap_handler->gap_event_handler(event, param);
   }
 }
 
@@ -191,14 +188,23 @@ void ESP32BLE::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gat
 void ESP32BLE::real_gatts_event_handler_(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if,
                                          esp_ble_gatts_cb_param_t *param) {
   ESP_LOGV(TAG, "(BLE) gatts_event [esp_gatt_if: %d] - %d", gatts_if, event);
-#ifdef USE_ESP32_BLE_SERVER
-  this->server_->gatts_event_handler(event, gatts_if, param);
-#endif
+  for (auto *gatts_handler : this->gatts_event_handlers_) {
+    gatts_handler->gatts_event_handler(event, gatts_if, param);
+  }
 }
 
+void ESP32BLE::gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if,
+                                   esp_ble_gattc_cb_param_t *param) {
+  BLEEvent *new_event = new BLEEvent(event, gattc_if, param);  // NOLINT(cppcoreguidelines-owning-memory)
+  global_ble->ble_events_.push(new_event);
+}  // NOLINT(clang-analyzer-cplusplus.NewDeleteLeaks)
+
 void ESP32BLE::real_gattc_event_handler_(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if,
                                          esp_ble_gattc_cb_param_t *param) {
-  // this->client_->gattc_event_handler(event, gattc_if, param);
+  ESP_LOGV(TAG, "(BLE) gattc_event [esp_gatt_if: %d] - %d", gattc_if, event);
+  for (auto *gattc_handler : this->gattc_event_handlers_) {
+    gattc_handler->gattc_event_handler(event, gattc_if, param);
+  }
 }
 
 float ESP32BLE::get_setup_priority() const { return setup_priority::BLUETOOTH; }
diff --git a/esphome/components/esp32_ble/ble.h b/esphome/components/esp32_ble/ble.h
index 0477dee070..5970b43688 100644
--- a/esphome/components/esp32_ble/ble.h
+++ b/esphome/components/esp32_ble/ble.h
@@ -5,17 +5,16 @@
 #include "esphome/core/component.h"
 #include "esphome/core/defines.h"
 #include "esphome/core/helpers.h"
-#include "queue.h"
 
-#ifdef USE_ESP32_BLE_SERVER
-#include "esphome/components/esp32_ble_server/ble_server.h"
-#endif
+#include "queue.h"
+#include "ble_event.h"
 
 #ifdef USE_ESP32
 
 #include <esp_gap_ble_api.h>
 #include <esp_gatts_api.h>
 #include <esp_gattc_api.h>
+
 namespace esphome {
 namespace esp32_ble {
 
@@ -26,28 +25,36 @@ typedef struct {
   uint16_t mtu;
 } conn_status_t;
 
+class GAPEventHandler {
+ public:
+  virtual void gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) = 0;
+};
+
+class GATTcEventHandler {
+ public:
+  virtual void gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if,
+                                   esp_ble_gattc_cb_param_t *param) = 0;
+};
+
+class GATTsEventHandler {
+ public:
+  virtual void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if,
+                                   esp_ble_gatts_cb_param_t *param) = 0;
+};
+
 class ESP32BLE : public Component {
  public:
   void setup() override;
   void loop() override;
   void dump_config() override;
   float get_setup_priority() const override;
-  void mark_failed() override;
-
-  bool has_server() {
-#ifdef USE_ESP32_BLE_SERVER
-    return this->server_ != nullptr;
-#else
-    return false;
-#endif
-  }
-  bool has_client() { return false; }
 
   BLEAdvertising *get_advertising() { return this->advertising_; }
 
-#ifdef USE_ESP32_BLE_SERVER
-  void set_server(esp32_ble_server::BLEServer *server) { this->server_ = server; }
-#endif
+  void register_gap_event_handler(GAPEventHandler *handler) { this->gap_event_handlers_.push_back(handler); }
+  void register_gattc_event_handler(GATTcEventHandler *handler) { this->gattc_event_handlers_.push_back(handler); }
+  void register_gatts_event_handler(GATTsEventHandler *handler) { this->gatts_event_handlers_.push_back(handler); }
+
  protected:
   static void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if, esp_ble_gatts_cb_param_t *param);
   static void gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param);
@@ -59,9 +66,10 @@ class ESP32BLE : public Component {
 
   bool ble_setup_();
 
-#ifdef USE_ESP32_BLE_SERVER
-  esp32_ble_server::BLEServer *server_{nullptr};
-#endif
+  std::vector<GAPEventHandler *> gap_event_handlers_;
+  std::vector<GATTcEventHandler *> gattc_event_handlers_;
+  std::vector<GATTsEventHandler *> gatts_event_handlers_;
+
   Queue<BLEEvent> ble_events_;
   BLEAdvertising *advertising_;
 };
diff --git a/esphome/components/esp32_ble_tracker/queue.h b/esphome/components/esp32_ble/ble_event.h
similarity index 50%
rename from esphome/components/esp32_ble_tracker/queue.h
rename to esphome/components/esp32_ble/ble_event.h
index f1dcc337e8..1cf63b2fab 100644
--- a/esphome/components/esp32_ble_tracker/queue.h
+++ b/esphome/components/esp32_ble/ble_event.h
@@ -1,69 +1,23 @@
 #pragma once
 
 #ifdef USE_ESP32
-#include "esphome/core/component.h"
-#include "esphome/core/helpers.h"
 
-#include <cstring>
-#include <mutex>
-#include <queue>
 #include <vector>
 
 #include <esp_gap_ble_api.h>
 #include <esp_gattc_api.h>
-#include <freertos/FreeRTOS.h>
-#include <freertos/semphr.h>
-
-/*
- * BLE events come in from a separate Task (thread) in the ESP32 stack. Rather
- * than trying to deal with various locking strategies, all incoming GAP and GATT
- * events will simply be placed on a semaphore guarded queue. The next time the
- * component runs loop(), these events are popped off the queue and handed at
- * this safer time.
- */
+#include <esp_gatts_api.h>
 
 namespace esphome {
-namespace esp32_ble_tracker {
-
-template<class T> class Queue {
- public:
-  Queue() { m_ = xSemaphoreCreateMutex(); }
-
-  void push(T *element) {
-    if (element == nullptr)
-      return;
-    if (xSemaphoreTake(m_, 5L / portTICK_PERIOD_MS)) {
-      q_.push(element);
-      xSemaphoreGive(m_);
-    }
-  }
-
-  T *pop() {
-    T *element = nullptr;
-
-    if (xSemaphoreTake(m_, 5L / portTICK_PERIOD_MS)) {
-      if (!q_.empty()) {
-        element = q_.front();
-        q_.pop();
-      }
-      xSemaphoreGive(m_);
-    }
-    return element;
-  }
-
- protected:
-  std::queue<T *> q_;
-  SemaphoreHandle_t m_;
-};
-
-// Received GAP and GATTC events are only queued, and get processed in the main loop().
+namespace esp32_ble {
+// Received GAP, GATTC and GATTS events are only queued, and get processed in the main loop().
 // This class stores each event in a single type.
 class BLEEvent {
  public:
   BLEEvent(esp_gap_ble_cb_event_t e, esp_ble_gap_cb_param_t *p) {
     this->event_.gap.gap_event = e;
     memcpy(&this->event_.gap.gap_param, p, sizeof(esp_ble_gap_cb_param_t));
-    this->type_ = 0;
+    this->type_ = GAP;
   };
 
   BLEEvent(esp_gattc_cb_event_t e, esp_gatt_if_t i, esp_ble_gattc_cb_param_t *p) {
@@ -84,26 +38,57 @@ class BLEEvent {
       default:
         break;
     }
-    this->type_ = 1;
+    this->type_ = GATTC;
+  };
+
+  BLEEvent(esp_gatts_cb_event_t e, esp_gatt_if_t i, esp_ble_gatts_cb_param_t *p) {
+    this->event_.gatts.gatts_event = e;
+    this->event_.gatts.gatts_if = i;
+    memcpy(&this->event_.gatts.gatts_param, p, sizeof(esp_ble_gatts_cb_param_t));
+    // Need to also make a copy of relevant event data.
+    switch (e) {
+      case ESP_GATTS_WRITE_EVT:
+        this->data.assign(p->write.value, p->write.value + p->write.len);
+        this->event_.gatts.gatts_param.write.value = this->data.data();
+        break;
+      default:
+        break;
+    }
+    this->type_ = GATTS;
   };
 
   union {
-    struct gap_event {  // NOLINT(readability-identifier-naming)
+    // NOLINTNEXTLINE(readability-identifier-naming)
+    struct gap_event {
       esp_gap_ble_cb_event_t gap_event;
       esp_ble_gap_cb_param_t gap_param;
     } gap;
 
-    struct gattc_event {  // NOLINT(readability-identifier-naming)
+    // NOLINTNEXTLINE(readability-identifier-naming)
+    struct gattc_event {
       esp_gattc_cb_event_t gattc_event;
       esp_gatt_if_t gattc_if;
       esp_ble_gattc_cb_param_t gattc_param;
     } gattc;
+
+    // NOLINTNEXTLINE(readability-identifier-naming)
+    struct gatts_event {
+      esp_gatts_cb_event_t gatts_event;
+      esp_gatt_if_t gatts_if;
+      esp_ble_gatts_cb_param_t gatts_param;
+    } gatts;
   } event_;
+
   std::vector<uint8_t> data{};
-  uint8_t type_;  // 0=gap 1=gattc
+  // NOLINTNEXTLINE(readability-identifier-naming)
+  enum ble_event_t : uint8_t {
+    GAP,
+    GATTC,
+    GATTS,
+  } type_;
 };
 
-}  // namespace esp32_ble_tracker
+}  // namespace esp32_ble
 }  // namespace esphome
 
 #endif
diff --git a/esphome/components/esp32_ble/ble_uuid.cpp b/esphome/components/esp32_ble/ble_uuid.cpp
index 8556aa87df..a50d3dbd42 100644
--- a/esphome/components/esp32_ble/ble_uuid.cpp
+++ b/esphome/components/esp32_ble/ble_uuid.cpp
@@ -27,8 +27,7 @@ ESPBTUUID ESPBTUUID::from_uint32(uint32_t uuid) {
 ESPBTUUID ESPBTUUID::from_raw(const uint8_t *data) {
   ESPBTUUID ret;
   ret.uuid_.len = ESP_UUID_LEN_128;
-  for (size_t i = 0; i < ESP_UUID_LEN_128; i++)
-    ret.uuid_.uuid.uuid128[i] = data[i];
+  memcpy(ret.uuid_.uuid.uuid128, data, ESP_UUID_LEN_128);
   return ret;
 }
 ESPBTUUID ESPBTUUID::from_raw(const std::string &data) {
@@ -91,10 +90,13 @@ ESPBTUUID ESPBTUUID::from_raw(const std::string &data) {
 ESPBTUUID ESPBTUUID::from_uuid(esp_bt_uuid_t uuid) {
   ESPBTUUID ret;
   ret.uuid_.len = uuid.len;
-  ret.uuid_.uuid.uuid16 = uuid.uuid.uuid16;
-  ret.uuid_.uuid.uuid32 = uuid.uuid.uuid32;
-  for (size_t i = 0; i < ESP_UUID_LEN_128; i++)
-    ret.uuid_.uuid.uuid128[i] = uuid.uuid.uuid128[i];
+  if (uuid.len == ESP_UUID_LEN_16) {
+    ret.uuid_.uuid.uuid16 = uuid.uuid.uuid16;
+  } else if (uuid.len == ESP_UUID_LEN_32) {
+    ret.uuid_.uuid.uuid32 = uuid.uuid.uuid32;
+  } else if (uuid.len == ESP_UUID_LEN_128) {
+    memcpy(ret.uuid_.uuid.uuid128, uuid.uuid.uuid128, ESP_UUID_LEN_128);
+  }
   return ret;
 }
 ESPBTUUID ESPBTUUID::as_128bit() const {
@@ -158,30 +160,26 @@ bool ESPBTUUID::operator==(const ESPBTUUID &uuid) const {
   }
   return false;
 }
-esp_bt_uuid_t ESPBTUUID::get_uuid() { return this->uuid_; }
-std::string ESPBTUUID::to_string() {
-  char sbuf[64];
+esp_bt_uuid_t ESPBTUUID::get_uuid() const { return this->uuid_; }
+std::string ESPBTUUID::to_string() const {
   switch (this->uuid_.len) {
     case ESP_UUID_LEN_16:
-      sprintf(sbuf, "0x%02X%02X", this->uuid_.uuid.uuid16 >> 8, this->uuid_.uuid.uuid16 & 0xff);
-      break;
+      return str_snprintf("0x%02X%02X", 6, this->uuid_.uuid.uuid16 >> 8, this->uuid_.uuid.uuid16 & 0xff);
     case ESP_UUID_LEN_32:
-      sprintf(sbuf, "0x%02X%02X%02X%02X", this->uuid_.uuid.uuid32 >> 24, (this->uuid_.uuid.uuid32 >> 16 & 0xff),
-              (this->uuid_.uuid.uuid32 >> 8 & 0xff), this->uuid_.uuid.uuid32 & 0xff);
-      break;
+      return str_snprintf("0x%02X%02X%02X%02X", 10, this->uuid_.uuid.uuid32 >> 24,
+                          (this->uuid_.uuid.uuid32 >> 16 & 0xff), (this->uuid_.uuid.uuid32 >> 8 & 0xff),
+                          this->uuid_.uuid.uuid32 & 0xff);
     default:
     case ESP_UUID_LEN_128:
-      char *bpos = sbuf;
+      std::string buf;
       for (int8_t i = 15; i >= 0; i--) {
-        sprintf(bpos, "%02X", this->uuid_.uuid.uuid128[i]);
-        bpos += 2;
+        buf += str_snprintf("%02X", 2, this->uuid_.uuid.uuid128[i]);
         if (i == 6 || i == 8 || i == 10 || i == 12)
-          sprintf(bpos++, "-");
+          buf += "-";
       }
-      sbuf[47] = '\0';
-      break;
+      return buf;
   }
-  return sbuf;
+  return "";
 }
 
 }  // namespace esp32_ble
diff --git a/esphome/components/esp32_ble/ble_uuid.h b/esphome/components/esp32_ble/ble_uuid.h
index f953f9fede..790a57c59d 100644
--- a/esphome/components/esp32_ble/ble_uuid.h
+++ b/esphome/components/esp32_ble/ble_uuid.h
@@ -32,9 +32,9 @@ class ESPBTUUID {
   bool operator==(const ESPBTUUID &uuid) const;
   bool operator!=(const ESPBTUUID &uuid) const { return !(*this == uuid); }
 
-  esp_bt_uuid_t get_uuid();
+  esp_bt_uuid_t get_uuid() const;
 
-  std::string to_string();
+  std::string to_string() const;
 
  protected:
   esp_bt_uuid_t uuid_;
diff --git a/esphome/components/esp32_ble/queue.h b/esphome/components/esp32_ble/queue.h
index 8d05eca058..5b31b97ae2 100644
--- a/esphome/components/esp32_ble/queue.h
+++ b/esphome/components/esp32_ble/queue.h
@@ -2,16 +2,9 @@
 
 #ifdef USE_ESP32
 
-#include "esphome/core/component.h"
-#include "esphome/core/helpers.h"
-
-#include <queue>
 #include <mutex>
-#include <cstring>
+#include <queue>
 
-#include <esp_gap_ble_api.h>
-#include <esp_gatts_api.h>
-#include <esp_gattc_api.h>
 #include <freertos/FreeRTOS.h>
 #include <freertos/semphr.h>
 
@@ -57,84 +50,6 @@ template<class T> class Queue {
   SemaphoreHandle_t m_;
 };
 
-// Received GAP, GATTC and GATTS events are only queued, and get processed in the main loop().
-// This class stores each event in a single type.
-class BLEEvent {
- public:
-  BLEEvent(esp_gap_ble_cb_event_t e, esp_ble_gap_cb_param_t *p) {
-    this->event_.gap.gap_event = e;
-    memcpy(&this->event_.gap.gap_param, p, sizeof(esp_ble_gap_cb_param_t));
-    this->type_ = GAP;
-  };
-
-  BLEEvent(esp_gattc_cb_event_t e, esp_gatt_if_t i, esp_ble_gattc_cb_param_t *p) {
-    this->event_.gattc.gattc_event = e;
-    this->event_.gattc.gattc_if = i;
-    memcpy(&this->event_.gattc.gattc_param, p, sizeof(esp_ble_gattc_cb_param_t));
-    // Need to also make a copy of notify event data.
-    switch (e) {
-      case ESP_GATTC_NOTIFY_EVT:
-        memcpy(this->event_.gattc.data, p->notify.value, p->notify.value_len);
-        this->event_.gattc.gattc_param.notify.value = this->event_.gattc.data;
-        break;
-      case ESP_GATTC_READ_CHAR_EVT:
-      case ESP_GATTC_READ_DESCR_EVT:
-        memcpy(this->event_.gattc.data, p->read.value, p->read.value_len);
-        this->event_.gattc.gattc_param.read.value = this->event_.gattc.data;
-        break;
-      default:
-        break;
-    }
-    this->type_ = GATTC;
-  };
-
-  BLEEvent(esp_gatts_cb_event_t e, esp_gatt_if_t i, esp_ble_gatts_cb_param_t *p) {
-    this->event_.gatts.gatts_event = e;
-    this->event_.gatts.gatts_if = i;
-    memcpy(&this->event_.gatts.gatts_param, p, sizeof(esp_ble_gatts_cb_param_t));
-    // Need to also make a copy of write data.
-    switch (e) {
-      case ESP_GATTS_WRITE_EVT:
-        memcpy(this->event_.gatts.data, p->write.value, p->write.len);
-        this->event_.gatts.gatts_param.write.value = this->event_.gatts.data;
-        break;
-      default:
-        break;
-    }
-    this->type_ = GATTS;
-  };
-
-  union {
-    // NOLINTNEXTLINE(readability-identifier-naming)
-    struct gap_event {
-      esp_gap_ble_cb_event_t gap_event;
-      esp_ble_gap_cb_param_t gap_param;
-    } gap;
-
-    // NOLINTNEXTLINE(readability-identifier-naming)
-    struct gattc_event {
-      esp_gattc_cb_event_t gattc_event;
-      esp_gatt_if_t gattc_if;
-      esp_ble_gattc_cb_param_t gattc_param;
-      uint8_t data[64];
-    } gattc;
-
-    // NOLINTNEXTLINE(readability-identifier-naming)
-    struct gatts_event {
-      esp_gatts_cb_event_t gatts_event;
-      esp_gatt_if_t gatts_if;
-      esp_ble_gatts_cb_param_t gatts_param;
-      uint8_t data[64];
-    } gatts;
-  } event_;
-  // NOLINTNEXTLINE(readability-identifier-naming)
-  enum ble_event_t : uint8_t {
-    GAP,
-    GATTC,
-    GATTS,
-  } type_;
-};
-
 }  // namespace esp32_ble
 }  // namespace esphome
 
diff --git a/esphome/components/esp32_ble_server/__init__.py b/esphome/components/esp32_ble_server/__init__.py
index 2fcc5c7743..0ddfa62c1b 100644
--- a/esphome/components/esp32_ble_server/__init__.py
+++ b/esphome/components/esp32_ble_server/__init__.py
@@ -7,21 +7,25 @@ from esphome.components.esp32 import add_idf_sdkconfig_option
 
 AUTO_LOAD = ["esp32_ble"]
 CODEOWNERS = ["@jesserockz"]
-CONFLICTS_WITH = ["esp32_ble_tracker", "esp32_ble_beacon"]
+CONFLICTS_WITH = ["esp32_ble_beacon"]
 DEPENDENCIES = ["esp32"]
 
 CONF_MANUFACTURER = "manufacturer"
-CONF_BLE_ID = "ble_id"
 
 esp32_ble_server_ns = cg.esphome_ns.namespace("esp32_ble_server")
-BLEServer = esp32_ble_server_ns.class_("BLEServer", cg.Component)
+BLEServer = esp32_ble_server_ns.class_(
+    "BLEServer",
+    cg.Component,
+    esp32_ble.GATTsEventHandler,
+    cg.Parented.template(esp32_ble.ESP32BLE),
+)
 BLEServiceComponent = esp32_ble_server_ns.class_("BLEServiceComponent")
 
 
 CONFIG_SCHEMA = cv.Schema(
     {
         cv.GenerateID(): cv.declare_id(BLEServer),
-        cv.GenerateID(CONF_BLE_ID): cv.use_id(esp32_ble.ESP32BLE),
+        cv.GenerateID(esp32_ble.CONF_BLE_ID): cv.use_id(esp32_ble.ESP32BLE),
         cv.Optional(CONF_MANUFACTURER, default="ESPHome"): cv.string,
         cv.Optional(CONF_MODEL): cv.string,
     }
@@ -29,16 +33,18 @@ CONFIG_SCHEMA = cv.Schema(
 
 
 async def to_code(config):
-    parent = await cg.get_variable(config[CONF_BLE_ID])
     var = cg.new_Pvariable(config[CONF_ID])
+
     await cg.register_component(var, config)
 
+    parent = await cg.get_variable(config[esp32_ble.CONF_BLE_ID])
+    cg.add(parent.register_gatts_event_handler(var))
+    cg.add(var.set_parent(parent))
+
     cg.add(var.set_manufacturer(config[CONF_MANUFACTURER]))
     if CONF_MODEL in config:
         cg.add(var.set_model(config[CONF_MODEL]))
     cg.add_define("USE_ESP32_BLE_SERVER")
 
-    cg.add(parent.set_server(var))
-
     if CORE.using_esp_idf:
         add_idf_sdkconfig_option("CONFIG_BT_ENABLED", True)
diff --git a/esphome/components/esp32_ble_server/ble_server.cpp b/esphome/components/esp32_ble_server/ble_server.cpp
index 15bea07021..7cbf40c076 100644
--- a/esphome/components/esp32_ble_server/ble_server.cpp
+++ b/esphome/components/esp32_ble_server/ble_server.cpp
@@ -25,7 +25,8 @@ static const uint16_t VERSION_UUID = 0x2A26;
 static const uint16_t MANUFACTURER_UUID = 0x2A29;
 
 void BLEServer::setup() {
-  if (this->is_failed()) {
+  if (this->parent_->is_failed()) {
+    this->mark_failed();
     ESP_LOGE(TAG, "BLE Server was marked failed by ESP32BLE");
     return;
   }
diff --git a/esphome/components/esp32_ble_server/ble_server.h b/esphome/components/esp32_ble_server/ble_server.h
index f82e854090..ac759f2dcd 100644
--- a/esphome/components/esp32_ble_server/ble_server.h
+++ b/esphome/components/esp32_ble_server/ble_server.h
@@ -3,6 +3,7 @@
 #include "ble_service.h"
 #include "ble_characteristic.h"
 
+#include "esphome/components/esp32_ble/ble.h"
 #include "esphome/components/esp32_ble/ble_advertising.h"
 #include "esphome/components/esp32_ble/ble_uuid.h"
 #include "esphome/components/esp32_ble/queue.h"
@@ -32,7 +33,7 @@ class BLEServiceComponent {
   virtual void stop();
 };
 
-class BLEServer : public Component {
+class BLEServer : public Component, public GATTsEventHandler, public Parented<ESP32BLE> {
  public:
   void setup() override;
   void loop() override;
@@ -55,7 +56,8 @@ class BLEServer : public Component {
   uint32_t get_connected_client_count() { return this->connected_clients_; }
   const std::map<uint16_t, void *> &get_clients() { return this->clients_; }
 
-  void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if, esp_ble_gatts_cb_param_t *param);
+  void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if,
+                           esp_ble_gatts_cb_param_t *param) override;
 
   void register_service_component(BLEServiceComponent *component) { this->service_components_.push_back(component); }
 
diff --git a/esphome/components/esp32_ble_tracker/__init__.py b/esphome/components/esp32_ble_tracker/__init__.py
index c20491e701..23f109b5ac 100644
--- a/esphome/components/esp32_ble_tracker/__init__.py
+++ b/esphome/components/esp32_ble_tracker/__init__.py
@@ -15,10 +15,11 @@ from esphome.const import (
     CONF_ON_BLE_SERVICE_DATA_ADVERTISE,
     CONF_ON_BLE_MANUFACTURER_DATA_ADVERTISE,
 )
+from esphome.components import esp32_ble
 from esphome.core import CORE
 from esphome.components.esp32 import add_idf_sdkconfig_option
-from esphome.components import esp32_ble
 
+AUTO_LOAD = ["esp32_ble"]
 DEPENDENCIES = ["esp32"]
 
 CONF_ESP32_BLE_ID = "esp32_ble_id"
@@ -27,7 +28,13 @@ CONF_WINDOW = "window"
 CONF_CONTINUOUS = "continuous"
 CONF_ON_SCAN_END = "on_scan_end"
 esp32_ble_tracker_ns = cg.esphome_ns.namespace("esp32_ble_tracker")
-ESP32BLETracker = esp32_ble_tracker_ns.class_("ESP32BLETracker", cg.Component)
+ESP32BLETracker = esp32_ble_tracker_ns.class_(
+    "ESP32BLETracker",
+    cg.Component,
+    esp32_ble.GAPEventHandler,
+    esp32_ble.GATTcEventHandler,
+    cg.Parented.template(esp32_ble.ESP32BLE),
+)
 ESPBTClient = esp32_ble_tracker_ns.class_("ESPBTClient")
 ESPBTDeviceListener = esp32_ble_tracker_ns.class_("ESPBTDeviceListener")
 ESPBTDevice = esp32_ble_tracker_ns.class_("ESPBTDevice")
@@ -138,6 +145,7 @@ def as_reversed_hex_array(value):
 CONFIG_SCHEMA = cv.Schema(
     {
         cv.GenerateID(): cv.declare_id(ESP32BLETracker),
+        cv.GenerateID(esp32_ble.CONF_BLE_ID): cv.use_id(esp32_ble.ESP32BLE),
         cv.Optional(CONF_SCAN_PARAMETERS, default={}): cv.All(
             cv.Schema(
                 {
@@ -200,6 +208,12 @@ ESP_BLE_DEVICE_SCHEMA = cv.Schema(
 async def to_code(config):
     var = cg.new_Pvariable(config[CONF_ID])
     await cg.register_component(var, config)
+
+    parent = await cg.get_variable(config[esp32_ble.CONF_BLE_ID])
+    cg.add(parent.register_gap_event_handler(var))
+    cg.add(parent.register_gattc_event_handler(var))
+    cg.add(var.set_parent(parent))
+
     params = config[CONF_SCAN_PARAMETERS]
     cg.add(var.set_scan_duration(params[CONF_DURATION]))
     cg.add(var.set_scan_interval(int(params[CONF_INTERVAL].total_milliseconds / 0.625)))
@@ -248,6 +262,7 @@ async def to_code(config):
         add_idf_sdkconfig_option("CONFIG_BTU_TASK_STACK_SIZE", 8192)
 
     cg.add_define("USE_OTA_STATE_CALLBACK")  # To be notified when an OTA update starts
+    cg.add_define("USE_ESP32_BLE_CLIENT")
 
 
 ESP32_BLE_START_SCAN_ACTION_SCHEMA = cv.Schema(
diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index 45509c489c..ea911d21e5 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -7,14 +7,14 @@
 #include "esphome/core/helpers.h"
 #include "esphome/core/log.h"
 
-#include <nvs_flash.h>
-#include <freertos/FreeRTOSConfig.h>
-#include <esp_bt_main.h>
 #include <esp_bt.h>
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-#include <esp_gap_ble_api.h>
 #include <esp_bt_defs.h>
+#include <esp_bt_main.h>
+#include <esp_gap_ble_api.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/FreeRTOSConfig.h>
+#include <freertos/task.h>
+#include <nvs_flash.h>
 
 #ifdef USE_OTA
 #include "esphome/components/ota/ota_component.h"
@@ -48,14 +48,16 @@ uint64_t ble_addr_to_uint64(const esp_bd_addr_t address) {
 float ESP32BLETracker::get_setup_priority() const { return setup_priority::BLUETOOTH; }
 
 void ESP32BLETracker::setup() {
+  if (this->parent_->is_failed()) {
+    this->mark_failed();
+    ESP_LOGE(TAG, "BLE Tracker was marked failed by ESP32BLE");
+    return;
+  }
+
   global_esp32_ble_tracker = this;
   this->scan_result_lock_ = xSemaphoreCreateMutex();
   this->scan_end_lock_ = xSemaphoreCreateMutex();
   this->scanner_idle_ = true;
-  if (!ESP32BLETracker::ble_setup()) {
-    this->mark_failed();
-    return;
-  }
 
 #ifdef USE_OTA
   ota::global_ota_component->add_on_state_callback([this](ota::OTAState state, float progress, uint8_t error) {
@@ -75,18 +77,6 @@ void ESP32BLETracker::setup() {
 }
 
 void ESP32BLETracker::loop() {
-  BLEEvent *ble_event = this->ble_events_.pop();
-  while (ble_event != nullptr) {
-    if (ble_event->type_) {
-      this->real_gattc_event_handler_(ble_event->event_.gattc.gattc_event, ble_event->event_.gattc.gattc_if,
-                                      &ble_event->event_.gattc.gattc_param);
-    } else {
-      this->real_gap_event_handler_(ble_event->event_.gap.gap_event, &ble_event->event_.gap.gap_param);
-    }
-    delete ble_event;  // NOLINT(cppcoreguidelines-owning-memory)
-    ble_event = this->ble_events_.pop();
-  }
-
   int connecting = 0;
   int discovered = 0;
   int searching = 0;
@@ -238,85 +228,6 @@ void ESP32BLETracker::stop_scan() {
   this->cancel_timeout("scan");
 }
 
-bool ESP32BLETracker::ble_setup() {
-  // Initialize non-volatile storage for the bluetooth controller
-  esp_err_t err = nvs_flash_init();
-  if (err != ESP_OK) {
-    ESP_LOGE(TAG, "nvs_flash_init failed: %d", err);
-    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) {
-      esp_bt_controller_config_t cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT();
-      err = esp_bt_controller_init(&cfg);
-      if (err != ESP_OK) {
-        ESP_LOGE(TAG, "esp_bt_controller_init failed: %s", esp_err_to_name(err));
-        return false;
-      }
-      while (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_IDLE)
-        ;
-    }
-    if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_INITED) {
-      err = esp_bt_controller_enable(ESP_BT_MODE_BLE);
-      if (err != ESP_OK) {
-        ESP_LOGE(TAG, "esp_bt_controller_enable failed: %s", esp_err_to_name(err));
-        return false;
-      }
-    }
-    if (esp_bt_controller_get_status() != ESP_BT_CONTROLLER_STATUS_ENABLED) {
-      ESP_LOGE(TAG, "esp bt controller enable failed");
-      return false;
-    }
-  }
-#endif
-
-  esp_bt_controller_mem_release(ESP_BT_MODE_CLASSIC_BT);
-
-  err = esp_bluedroid_init();
-  if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_bluedroid_init failed: %d", err);
-    return false;
-  }
-  err = esp_bluedroid_enable();
-  if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_bluedroid_enable failed: %d", err);
-    return false;
-  }
-  err = esp_ble_gap_register_callback(ESP32BLETracker::gap_event_handler);
-  if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_ble_gap_register_callback failed: %d", err);
-    return false;
-  }
-  err = esp_ble_gattc_register_callback(ESP32BLETracker::gattc_event_handler);
-  if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_ble_gattc_register_callback failed: %d", err);
-    return false;
-  }
-
-  // Empty name
-  esp_ble_gap_set_device_name("");
-
-  esp_ble_io_cap_t iocap = ESP_IO_CAP_NONE;
-  err = esp_ble_gap_set_security_param(ESP_BLE_SM_IOCAP_MODE, &iocap, sizeof(uint8_t));
-  if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_ble_gap_set_security_param failed: %d", err);
-    return false;
-  }
-
-  // BLE takes some time to be fully set up, 200ms should be more than enough
-  delay(200);  // NOLINT
-
-  return true;
-}
-
 void ESP32BLETracker::start_scan_(bool first) {
   // The lock must be held when calling this function.
   if (xSemaphoreTake(this->scan_end_lock_, 0L)) {
@@ -369,11 +280,6 @@ void ESP32BLETracker::register_client(ESPBTClient *client) {
 }
 
 void ESP32BLETracker::gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) {
-  BLEEvent *gap_event = new BLEEvent(event, param);  // NOLINT(cppcoreguidelines-owning-memory)
-  global_esp32_ble_tracker->ble_events_.push(gap_event);
-}  // NOLINT(clang-analyzer-cplusplus.NewDeleteLeaks)
-
-void ESP32BLETracker::real_gap_event_handler_(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) {
   switch (event) {
     case ESP_GAP_BLE_SCAN_RESULT_EVT:
       this->gap_scan_result_(param->scan_rst);
@@ -428,204 +334,11 @@ void ESP32BLETracker::gap_scan_result_(const esp_ble_gap_cb_param_t::ble_scan_re
 
 void ESP32BLETracker::gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if,
                                           esp_ble_gattc_cb_param_t *param) {
-  BLEEvent *gattc_event = new BLEEvent(event, gattc_if, param);  // NOLINT(cppcoreguidelines-owning-memory)
-  global_esp32_ble_tracker->ble_events_.push(gattc_event);
-}  // NOLINT(clang-analyzer-cplusplus.NewDeleteLeaks)
-
-void ESP32BLETracker::real_gattc_event_handler_(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if,
-                                                esp_ble_gattc_cb_param_t *param) {
   for (auto *client : this->clients_) {
     client->gattc_event_handler(event, gattc_if, param);
   }
 }
 
-ESPBTUUID::ESPBTUUID() : uuid_() {}
-ESPBTUUID ESPBTUUID::from_uint16(uint16_t uuid) {
-  ESPBTUUID ret;
-  ret.uuid_.len = ESP_UUID_LEN_16;
-  ret.uuid_.uuid.uuid16 = uuid;
-  return ret;
-}
-ESPBTUUID ESPBTUUID::from_uint32(uint32_t uuid) {
-  ESPBTUUID ret;
-  ret.uuid_.len = ESP_UUID_LEN_32;
-  ret.uuid_.uuid.uuid32 = uuid;
-  return ret;
-}
-ESPBTUUID ESPBTUUID::from_raw(const uint8_t *data) {
-  ESPBTUUID ret;
-  ret.uuid_.len = ESP_UUID_LEN_128;
-  for (size_t i = 0; i < ESP_UUID_LEN_128; i++)
-    ret.uuid_.uuid.uuid128[i] = data[i];
-  return ret;
-}
-ESPBTUUID ESPBTUUID::from_raw(const std::string &data) {
-  ESPBTUUID ret;
-  if (data.length() == 4) {
-    ret.uuid_.len = ESP_UUID_LEN_16;
-    ret.uuid_.uuid.uuid16 = 0;
-    for (int i = 0; i < data.length();) {
-      uint8_t msb = data.c_str()[i];
-      uint8_t lsb = data.c_str()[i + 1];
-
-      if (msb > '9')
-        msb -= 7;
-      if (lsb > '9')
-        lsb -= 7;
-      ret.uuid_.uuid.uuid16 += (((msb & 0x0F) << 4) | (lsb & 0x0F)) << (2 - i) * 4;
-      i += 2;
-    }
-  } else if (data.length() == 8) {
-    ret.uuid_.len = ESP_UUID_LEN_32;
-    ret.uuid_.uuid.uuid32 = 0;
-    for (int i = 0; i < data.length();) {
-      uint8_t msb = data.c_str()[i];
-      uint8_t lsb = data.c_str()[i + 1];
-
-      if (msb > '9')
-        msb -= 7;
-      if (lsb > '9')
-        lsb -= 7;
-      ret.uuid_.uuid.uuid32 += (((msb & 0x0F) << 4) | (lsb & 0x0F)) << (6 - i) * 4;
-      i += 2;
-    }
-  } else if (data.length() == 16) {  // how we can have 16 byte length string reprezenting 128 bit uuid??? needs to be
-                                     // investigated (lack of time)
-    ret.uuid_.len = ESP_UUID_LEN_128;
-    memcpy(ret.uuid_.uuid.uuid128, (uint8_t *) data.data(), 16);
-  } else if (data.length() == 36) {
-    // If the length of the string is 36 bytes then we will assume it is a long hex string in
-    // UUID format.
-    ret.uuid_.len = ESP_UUID_LEN_128;
-    int n = 0;
-    for (int i = 0; i < data.length();) {
-      if (data.c_str()[i] == '-')
-        i++;
-      uint8_t msb = data.c_str()[i];
-      uint8_t lsb = data.c_str()[i + 1];
-
-      if (msb > '9')
-        msb -= 7;
-      if (lsb > '9')
-        lsb -= 7;
-      ret.uuid_.uuid.uuid128[15 - n++] = ((msb & 0x0F) << 4) | (lsb & 0x0F);
-      i += 2;
-    }
-  } else {
-    ESP_LOGE(TAG, "ERROR: UUID value not 2, 4, 16 or 36 bytes - %s", data.c_str());
-  }
-  return ret;
-}
-ESPBTUUID ESPBTUUID::from_uuid(esp_bt_uuid_t uuid) {
-  ESPBTUUID ret;
-  ret.uuid_.len = uuid.len;
-  if (uuid.len == ESP_UUID_LEN_16) {
-    ret.uuid_.uuid.uuid16 = uuid.uuid.uuid16;
-  } else if (uuid.len == ESP_UUID_LEN_32) {
-    ret.uuid_.uuid.uuid32 = uuid.uuid.uuid32;
-  } else if (uuid.len == ESP_UUID_LEN_128) {
-    memcpy(ret.uuid_.uuid.uuid128, uuid.uuid.uuid128, ESP_UUID_LEN_128);
-  }
-  return ret;
-}
-ESPBTUUID ESPBTUUID::as_128bit() const {
-  if (this->uuid_.len == ESP_UUID_LEN_128) {
-    return *this;
-  }
-  uint8_t data[] = {0xFB, 0x34, 0x9B, 0x5F, 0x80, 0x00, 0x00, 0x80, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
-  uint32_t uuid32;
-  if (this->uuid_.len == ESP_UUID_LEN_32) {
-    uuid32 = this->uuid_.uuid.uuid32;
-  } else {
-    uuid32 = this->uuid_.uuid.uuid16;
-  }
-  for (uint8_t i = 0; i < this->uuid_.len; i++) {
-    data[12 + i] = ((uuid32 >> i * 8) & 0xFF);
-  }
-  return ESPBTUUID::from_raw(data);
-}
-bool ESPBTUUID::contains(uint8_t data1, uint8_t data2) const {
-  if (this->uuid_.len == ESP_UUID_LEN_16) {
-    return (this->uuid_.uuid.uuid16 >> 8) == data2 && (this->uuid_.uuid.uuid16 & 0xFF) == data1;
-  } else if (this->uuid_.len == ESP_UUID_LEN_32) {
-    for (uint8_t i = 0; i < 3; i++) {
-      bool a = ((this->uuid_.uuid.uuid32 >> i * 8) & 0xFF) == data1;
-      bool b = ((this->uuid_.uuid.uuid32 >> (i + 1) * 8) & 0xFF) == data2;
-      if (a && b)
-        return true;
-    }
-  } else {
-    for (uint8_t i = 0; i < 15; i++) {
-      if (this->uuid_.uuid.uuid128[i] == data1 && this->uuid_.uuid.uuid128[i + 1] == data2)
-        return true;
-    }
-  }
-  return false;
-}
-bool ESPBTUUID::operator==(const ESPBTUUID &uuid) const {
-  if (this->uuid_.len == uuid.uuid_.len) {
-    switch (this->uuid_.len) {
-      case ESP_UUID_LEN_16:
-        if (uuid.uuid_.uuid.uuid16 == this->uuid_.uuid.uuid16) {
-          return true;
-        }
-        break;
-      case ESP_UUID_LEN_32:
-        if (uuid.uuid_.uuid.uuid32 == this->uuid_.uuid.uuid32) {
-          return true;
-        }
-        break;
-      case ESP_UUID_LEN_128:
-        for (int i = 0; i < ESP_UUID_LEN_128; i++) {
-          if (uuid.uuid_.uuid.uuid128[i] != this->uuid_.uuid.uuid128[i]) {
-            return false;
-          }
-        }
-        return true;
-        break;
-    }
-  } else {
-    return this->as_128bit() == uuid.as_128bit();
-  }
-  return false;
-}
-esp_bt_uuid_t ESPBTUUID::get_uuid() const { return this->uuid_; }
-std::string ESPBTUUID::to_string() const {
-  switch (this->uuid_.len) {
-    case ESP_UUID_LEN_16:
-      return str_snprintf("0x%02X%02X", 6, this->uuid_.uuid.uuid16 >> 8, this->uuid_.uuid.uuid16 & 0xff);
-    case ESP_UUID_LEN_32:
-      return str_snprintf("0x%02X%02X%02X%02X", 10, this->uuid_.uuid.uuid32 >> 24,
-                          (this->uuid_.uuid.uuid32 >> 16 & 0xff), (this->uuid_.uuid.uuid32 >> 8 & 0xff),
-                          this->uuid_.uuid.uuid32 & 0xff);
-    default:
-    case ESP_UUID_LEN_128:
-      std::string buf;
-      for (uint8_t i = 0; i < 16; i++) {
-        buf += str_snprintf("%02X", 2, this->uuid_.uuid.uuid128[i]);
-        if (i == 3 || i == 5 || i == 7 || i == 9)
-          buf += "-";
-      }
-      return buf;
-  }
-  return "";
-}
-
-uint64_t ESPBTUUID::get_128bit_high() const {
-  esp_bt_uuid_t uuid = this->as_128bit().get_uuid();
-  return ((uint64_t) uuid.uuid.uuid128[15] << 56) | ((uint64_t) uuid.uuid.uuid128[14] << 48) |
-         ((uint64_t) uuid.uuid.uuid128[13] << 40) | ((uint64_t) uuid.uuid.uuid128[12] << 32) |
-         ((uint64_t) uuid.uuid.uuid128[11] << 24) | ((uint64_t) uuid.uuid.uuid128[10] << 16) |
-         ((uint64_t) uuid.uuid.uuid128[9] << 8) | ((uint64_t) uuid.uuid.uuid128[8]);
-}
-uint64_t ESPBTUUID::get_128bit_low() const {
-  esp_bt_uuid_t uuid = this->as_128bit().get_uuid();
-  return ((uint64_t) uuid.uuid.uuid128[7] << 56) | ((uint64_t) uuid.uuid.uuid128[6] << 48) |
-         ((uint64_t) uuid.uuid.uuid128[5] << 40) | ((uint64_t) uuid.uuid.uuid128[4] << 32) |
-         ((uint64_t) uuid.uuid.uuid128[3] << 24) | ((uint64_t) uuid.uuid.uuid128[2] << 16) |
-         ((uint64_t) uuid.uuid.uuid128[1] << 8) | ((uint64_t) uuid.uuid.uuid128[0]);
-}
-
 ESPBLEiBeacon::ESPBLEiBeacon(const uint8_t *data) { memcpy(&this->beacon_data_, data, sizeof(beacon_data_)); }
 optional<ESPBLEiBeacon> ESPBLEiBeacon::from_manufacturer_data(const ServiceData &data) {
   if (!data.uuid.contains(0x4C, 0x00))
diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
index e6f7829353..d1f72cf78d 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
@@ -1,9 +1,8 @@
 #pragma once
 
-#include "esphome/core/component.h"
 #include "esphome/core/automation.h"
+#include "esphome/core/component.h"
 #include "esphome/core/helpers.h"
-#include "queue.h"
 
 #include <array>
 #include <string>
@@ -15,40 +14,16 @@
 #include <esp_gattc_api.h>
 #include <esp_bt_defs.h>
 
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+
+#include "esphome/components/esp32_ble/ble.h"
+#include "esphome/components/esp32_ble/ble_uuid.h"
+
 namespace esphome {
 namespace esp32_ble_tracker {
 
-class ESPBTUUID {
- public:
-  ESPBTUUID();
-
-  static ESPBTUUID from_uint16(uint16_t uuid);
-
-  static ESPBTUUID from_uint32(uint32_t uuid);
-
-  static ESPBTUUID from_raw(const uint8_t *data);
-
-  static ESPBTUUID from_raw(const std::string &data);
-
-  static ESPBTUUID from_uuid(esp_bt_uuid_t uuid);
-
-  ESPBTUUID as_128bit() const;
-
-  bool contains(uint8_t data1, uint8_t data2) const;
-
-  bool operator==(const ESPBTUUID &uuid) const;
-  bool operator!=(const ESPBTUUID &uuid) const { return !(*this == uuid); }
-
-  esp_bt_uuid_t get_uuid() const;
-
-  std::string to_string() const;
-
-  uint64_t get_128bit_high() const;
-  uint64_t get_128bit_low() const;
-
- protected:
-  esp_bt_uuid_t uuid_;
-};
+using namespace esp32_ble;
 
 using adv_data_t = std::vector<uint8_t>;
 
@@ -191,7 +166,7 @@ class ESPBTClient : public ESPBTDeviceListener {
   ClientState state_;
 };
 
-class ESP32BLETracker : public Component {
+class ESP32BLETracker : public Component, public GAPEventHandler, public GATTcEventHandler, public Parented<ESP32BLE> {
  public:
   void set_scan_duration(uint32_t scan_duration) { scan_duration_ = scan_duration; }
   void set_scan_interval(uint32_t scan_interval) { scan_interval_ = scan_interval; }
@@ -218,16 +193,15 @@ class ESP32BLETracker : public Component {
   void start_scan();
   void stop_scan();
 
+  void gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if,
+                           esp_ble_gattc_cb_param_t *param) override;
+  void gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) override;
+
  protected:
-  /// The FreeRTOS task managing the bluetooth interface.
-  static bool ble_setup();
   /// Start a single scan by setting up the parameters and doing some esp-idf calls.
   void start_scan_(bool first);
   /// Called when a scan ends
   void end_of_scan_();
-  /// Callback that will handle all GAP events and redistribute them to other callbacks.
-  static void gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param);
-  void real_gap_event_handler_(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param);
   /// Called when a `ESP_GAP_BLE_SCAN_RESULT_EVT` event is received.
   void gap_scan_result_(const esp_ble_gap_cb_param_t::ble_scan_result_evt_param &param);
   /// Called when a `ESP_GAP_BLE_SCAN_PARAM_SET_COMPLETE_EVT` event is received.
@@ -238,9 +212,6 @@ class ESP32BLETracker : public Component {
   void gap_scan_stop_complete_(const esp_ble_gap_cb_param_t::ble_scan_stop_cmpl_evt_param &param);
 
   int app_id_;
-  /// Callback that will handle all GATTC events and redistribute them to other callbacks.
-  static void gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param);
-  void real_gattc_event_handler_(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param);
 
   /// Vector of addresses that have already been printed in print_bt_device_info
   std::vector<uint64_t> already_discovered_;
@@ -263,8 +234,6 @@ class ESP32BLETracker : public Component {
   esp_ble_gap_cb_param_t::ble_scan_result_evt_param scan_result_buffer_[16];
   esp_bt_status_t scan_start_failed_{ESP_BT_STATUS_SUCCESS};
   esp_bt_status_t scan_set_param_failed_{ESP_BT_STATUS_SUCCESS};
-
-  Queue<BLEEvent> ble_events_;
 };
 
 // NOLINTNEXTLINE
diff --git a/esphome/components/esp32_improv/__init__.py b/esphome/components/esp32_improv/__init__.py
index 1e50418e01..7170a6dabf 100644
--- a/esphome/components/esp32_improv/__init__.py
+++ b/esphome/components/esp32_improv/__init__.py
@@ -6,7 +6,7 @@ from esphome.const import CONF_ID
 
 AUTO_LOAD = ["binary_sensor", "output", "esp32_ble_server"]
 CODEOWNERS = ["@jesserockz"]
-CONFLICTS_WITH = ["esp32_ble_tracker", "esp32_ble_beacon"]
+CONFLICTS_WITH = ["esp32_ble_beacon"]
 DEPENDENCIES = ["wifi", "esp32"]
 
 CONF_AUTHORIZED_DURATION = "authorized_duration"