diff --git a/esphome/components/time_based/cover.py b/esphome/components/time_based/cover.py
index 85f606e6cc..6a7c9b6835 100644
--- a/esphome/components/time_based/cover.py
+++ b/esphome/components/time_based/cover.py
@@ -8,6 +8,8 @@ from esphome.const import CONF_CLOSE_ACTION, CONF_CLOSE_DURATION, CONF_ID, CONF_
 time_based_ns = cg.esphome_ns.namespace('time_based')
 TimeBasedCover = time_based_ns.class_('TimeBasedCover', cover.Cover, cg.Component)
 
+CONF_HAS_BUILT_IN_ENDSTOP = 'has_built_in_endstop'
+
 CONFIG_SCHEMA = cover.COVER_SCHEMA.extend({
     cv.GenerateID(): cv.declare_id(TimeBasedCover),
     cv.Required(CONF_STOP_ACTION): automation.validate_automation(single=True),
@@ -17,6 +19,8 @@ CONFIG_SCHEMA = cover.COVER_SCHEMA.extend({
 
     cv.Required(CONF_CLOSE_ACTION): automation.validate_automation(single=True),
     cv.Required(CONF_CLOSE_DURATION): cv.positive_time_period_milliseconds,
+
+    cv.Optional(CONF_HAS_BUILT_IN_ENDSTOP, default=False): cv.boolean,
 }).extend(cv.COMPONENT_SCHEMA)
 
 
@@ -32,3 +36,5 @@ def to_code(config):
 
     cg.add(var.set_close_duration(config[CONF_CLOSE_DURATION]))
     yield automation.build_automation(var.get_close_trigger(), [], config[CONF_CLOSE_ACTION])
+
+    cg.add(var.set_has_built_in_endstop(config[CONF_HAS_BUILT_IN_ENDSTOP]))
diff --git a/esphome/components/time_based/time_based_cover.cpp b/esphome/components/time_based/time_based_cover.cpp
index bbc887debc..c353b552d3 100644
--- a/esphome/components/time_based/time_based_cover.cpp
+++ b/esphome/components/time_based/time_based_cover.cpp
@@ -30,13 +30,18 @@ void TimeBasedCover::loop() {
   // Recompute position every loop cycle
   this->recompute_position_();
 
-  if (this->current_operation != COVER_OPERATION_IDLE && this->is_at_target_()) {
-    this->start_direction_(COVER_OPERATION_IDLE);
+  if (this->is_at_target_()) {
+    if (this->has_built_in_endstop_ && (this->target_position_ == COVER_OPEN || this->target_position_ == COVER_CLOSED)) {
+      // Don't trigger stop, let the cover stop by itself.
+      this->current_operation = COVER_OPERATION_IDLE;
+    } else {
+      this->start_direction_(COVER_OPERATION_IDLE);
+    }
     this->publish_state();
   }
 
   // Send current position every second
-  if (this->current_operation != COVER_OPERATION_IDLE && now - this->last_publish_time_ > 1000) {
+  if (now - this->last_publish_time_ > 1000) {
     this->publish_state(false);
     this->last_publish_time_ = now;
   }
@@ -57,6 +62,12 @@ void TimeBasedCover::control(const CoverCall &call) {
     auto pos = *call.get_position();
     if (pos == this->position) {
       // already at target
+      // for covers with built in end stop, we should send the command again
+      if (this->has_built_in_endstop_ && (pos == COVER_OPEN || pos == COVER_CLOSED)) {
+        auto op = pos == COVER_CLOSED ? COVER_OPERATION_CLOSING : COVER_OPERATION_OPENING;
+        this->target_position_ = pos;
+        this->start_direction_(op);
+      }
     } else {
       auto op = pos < this->position ? COVER_OPERATION_CLOSING : COVER_OPERATION_OPENING;
       this->target_position_ = pos;
@@ -82,7 +93,7 @@ bool TimeBasedCover::is_at_target_() const {
   }
 }
 void TimeBasedCover::start_direction_(CoverOperation dir) {
-  if (dir == this->current_operation)
+  if (dir == this->current_operation && dir != COVER_OPERATION_IDLE)
     return;
 
   this->recompute_position_();
diff --git a/esphome/components/time_based/time_based_cover.h b/esphome/components/time_based/time_based_cover.h
index 60819d797b..be3a55c546 100644
--- a/esphome/components/time_based/time_based_cover.h
+++ b/esphome/components/time_based/time_based_cover.h
@@ -20,6 +20,7 @@ class TimeBasedCover : public cover::Cover, public Component {
   void set_open_duration(uint32_t open_duration) { this->open_duration_ = open_duration; }
   void set_close_duration(uint32_t close_duration) { this->close_duration_ = close_duration; }
   cover::CoverTraits get_traits() override;
+  void set_has_built_in_endstop(bool value) { this->has_built_in_endstop_ = value; }
 
  protected:
   void control(const cover::CoverCall &call) override;
@@ -41,6 +42,7 @@ class TimeBasedCover : public cover::Cover, public Component {
   uint32_t start_dir_time_{0};
   uint32_t last_publish_time_{0};
   float target_position_{0};
+  bool has_built_in_endstop_{false};
 };
 
 }  // namespace time_based