diff --git a/esphome/components/dfrobot_sen0395/dfrobot_sen0395.cpp b/esphome/components/dfrobot_sen0395/dfrobot_sen0395.cpp
index 7cb96a859e..96cd924d52 100644
--- a/esphome/components/dfrobot_sen0395/dfrobot_sen0395.cpp
+++ b/esphome/components/dfrobot_sen0395/dfrobot_sen0395.cpp
@@ -101,6 +101,26 @@ void DfrobotSen0395Component::set_detected_(bool detected) {
 #endif
 }
 
+void DfrobotSen0395Component::set_detected_target_distance_(int target, float value) {
+#ifdef USE_SENSOR
+  if (is_valid_target_(target)) {
+    if (detected_targets_distance_sensors_[target - 1]) {
+      detected_targets_distance_sensors_[target - 1]->publish_state(value);
+    }
+  }
+#endif
+}
+
+void DfrobotSen0395Component::set_detected_target_snr_(int target, float value) {
+#ifdef USE_SENSOR
+  if (is_valid_target_(target)) {
+    if (detected_targets_snr_sensors_[target - 1]) {
+      detected_targets_snr_sensors_[target - 1]->publish_state(value);
+    }
+  }
+#endif
+}
+
 int8_t CircularCommandQueue::enqueue(std::unique_ptr<Command> cmd) {
   if (this->is_full()) {
     ESP_LOGE(TAG, "Command queue is full");
diff --git a/esphome/components/dfrobot_sen0395/dfrobot_sen0395.h b/esphome/components/dfrobot_sen0395/dfrobot_sen0395.h
index 893519a414..4351ff7abd 100644
--- a/esphome/components/dfrobot_sen0395/dfrobot_sen0395.h
+++ b/esphome/components/dfrobot_sen0395/dfrobot_sen0395.h
@@ -139,6 +139,9 @@ class DfrobotSen0395Component : public uart::UARTDevice, public Component {
 
   void set_detected_(bool detected);
 
+  void set_detected_target_distance_(int target, float value);
+  void set_detected_target_snr_(int target, float value);
+
   bool is_valid_target_(int target) { return target >= 1 && target <= TARGET_COUNT; }
 
   friend class Command;