diff --git a/esphome/components/esp32_ble/ble.cpp b/esphome/components/esp32_ble/ble.cpp
index 2200d3cef1..889c793017 100644
--- a/esphome/components/esp32_ble/ble.cpp
+++ b/esphome/components/esp32_ble/ble.cpp
@@ -20,14 +20,13 @@ void ESP32BLE::setup() {
   global_ble = this;
   ESP_LOGCONFIG(TAG, "Setting up BLE...");
 
-  xTaskCreatePinnedToCore(ESP32BLE::ble_core_task_,
-                          "ble_task",  // name
-                          10000,       // stack size
-                          nullptr,     // input params
-                          1,           // priority
-                          nullptr,     // handle, not needed
-                          0            // core
-  );
+  if (!ble_setup_()) {
+    ESP_LOGE(TAG, "BLE could not be set up");
+    this->mark_failed();
+    return;
+  }
+
+  ESP_LOGD(TAG, "BLE setup complete");
 }
 
 void ESP32BLE::mark_failed() {
@@ -37,23 +36,6 @@ void ESP32BLE::mark_failed() {
   }
 }
 
-bool ESP32BLE::can_proceed() { return this->ready_; }
-
-void ESP32BLE::ble_core_task_(void *params) {
-  if (!ble_setup_()) {
-    ESP_LOGE(TAG, "BLE could not be set up");
-    global_ble->mark_failed();
-    return;
-  }
-
-  global_ble->ready_ = true;
-  ESP_LOGD(TAG, "BLE Setup complete");
-
-  while (true) {
-    vTaskDelay(1000 / portTICK_PERIOD_MS);
-  }
-}
-
 bool ESP32BLE::ble_setup_() {
   esp_err_t err = nvs_flash_init();
   if (err != ESP_OK) {
@@ -84,7 +66,7 @@ bool ESP32BLE::ble_setup_() {
     return false;
   }
 
-  if (global_ble->has_server()) {
+  if (this->has_server()) {
     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);
@@ -92,7 +74,7 @@ bool ESP32BLE::ble_setup_() {
     }
   }
 
-  if (global_ble->has_client()) {
+  if (this->has_client()) {
     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);
@@ -119,27 +101,28 @@ bool ESP32BLE::ble_setup_() {
   return true;
 }
 
-// void ESP32BLE::loop() {
-//   BLEEvent *ble_event = this->ble_events_.pop();
-//   while (ble_event != nullptr) {
-//     switch (ble_event->type_) {
-//       case ble_event->GATTS:
-//         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 ble_event->GAP:
-//         this->real_gap_event_handler_(ble_event->event_.gap.gap_event, &ble_event->event_.gap.gap_param);
-//         break;
-//       default:
-//         break;
-//     }
-//     delete ble_event;
-//     ble_event = this->ble_events_.pop();
-//   }
-// }
+void ESP32BLE::loop() {
+  BLEEvent *ble_event = this->ble_events_.pop();
+  while (ble_event != nullptr) {
+    switch (ble_event->type_) {
+      case ble_event->GATTS:
+        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 ble_event->GAP:
+        this->real_gap_event_handler_(ble_event->event_.gap.gap_event, &ble_event->event_.gap.gap_param);
+        break;
+      default:
+        break;
+    }
+    delete ble_event;
+    ble_event = this->ble_events_.pop();
+  }
+}
 
 void ESP32BLE::gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) {
-  global_ble->real_gap_event_handler_(event, param);
+  BLEEvent *new_event = new BLEEvent(event, param);
+  global_ble->ble_events_.push(new_event);
 }
 
 void ESP32BLE::real_gap_event_handler_(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) {
@@ -152,7 +135,8 @@ void ESP32BLE::real_gap_event_handler_(esp_gap_ble_cb_event_t event, esp_ble_gap
 
 void ESP32BLE::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if,
                                    esp_ble_gatts_cb_param_t *param) {
-  global_ble->real_gatts_event_handler_(event, gatts_if, param);
+  BLEEvent *new_event = new BLEEvent(event, gatts_if, param);
+  global_ble->ble_events_.push(new_event);
 }
 
 void ESP32BLE::real_gatts_event_handler_(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if,
diff --git a/esphome/components/esp32_ble/ble.h b/esphome/components/esp32_ble/ble.h
index 8850f10d85..27cb9a2092 100644
--- a/esphome/components/esp32_ble/ble.h
+++ b/esphome/components/esp32_ble/ble.h
@@ -23,17 +23,14 @@ typedef struct {
 class ESP32BLE : public Component {
  public:
   void setup() override;
-  // void loop() override;
+  void loop() override;
   void dump_config() override;
   float get_setup_priority() const override;
   void mark_failed() override;
-  bool can_proceed() override;
 
   bool has_server() { return this->server_ != nullptr; }
   bool has_client() { return false; }
 
-  bool is_ready() { return this->ready_; }
-
   void set_server(BLEServer *server) { this->server_ = server; }
 
  protected:
@@ -45,10 +42,7 @@ class ESP32BLE : public Component {
   void real_gattc_event_handler_(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param);
   void real_gap_event_handler_(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param);
 
-  static void ble_core_task_(void *params);
-  static bool ble_setup_();
-
-  bool ready_{false};
+  bool ble_setup_();
 
   BLEServer *server_{nullptr};
   Queue<BLEEvent> ble_events_;
diff --git a/esphome/components/esp32_ble/ble_characteristic.cpp b/esphome/components/esp32_ble/ble_characteristic.cpp
index 240b57eb38..127f973146 100644
--- a/esphome/components/esp32_ble/ble_characteristic.cpp
+++ b/esphome/components/esp32_ble/ble_characteristic.cpp
@@ -13,10 +13,8 @@ static const char *TAG = "esp32_ble.characteristic";
 
 BLECharacteristic::BLECharacteristic(const ESPBTUUID uuid, uint32_t properties) : uuid_(uuid) {
   this->set_value_lock_ = xSemaphoreCreateBinary();
-  this->create_lock_ = xSemaphoreCreateBinary();
-
   xSemaphoreGive(this->set_value_lock_);
-  xSemaphoreGive(this->create_lock_);
+
   this->properties_ = (esp_gatt_char_prop_t) 0;
 
   this->set_broadcast_property((properties & PROPERTY_BROADCAST) != 0);
@@ -100,12 +98,11 @@ void BLECharacteristic::notify(bool notification) {
 
 void BLECharacteristic::add_descriptor(BLEDescriptor *descriptor) { this->descriptors_.push_back(descriptor); }
 
-bool BLECharacteristic::do_create(BLEService *service) {
+void BLECharacteristic::do_create(BLEService *service) {
   this->service_ = service;
   esp_attr_control_t control;
   control.auto_rsp = ESP_GATT_RSP_BY_APP;
 
-  xSemaphoreTake(this->create_lock_, portMAX_DELAY);
   ESP_LOGV(TAG, "Creating characteristic - %s", this->uuid_.to_string().c_str());
 
   esp_bt_uuid_t uuid = this->uuid_.get_uuid();
@@ -114,15 +111,39 @@ bool BLECharacteristic::do_create(BLEService *service) {
 
   if (err != ESP_OK) {
     ESP_LOGE(TAG, "esp_ble_gatts_add_char failed: %d", err);
+    return;
+  }
+
+  this->state_ = CREATING;
+}
+
+bool BLECharacteristic::is_created() {
+  if (this->state_ == CREATED)
+    return true;
+
+  if (this->state_ != CREATING_DEPENDENTS)
     return false;
-  }
-
-  xSemaphoreWait(this->create_lock_, portMAX_DELAY);
 
+  bool created = true;
   for (auto *descriptor : this->descriptors_) {
-    descriptor->do_create(this);
+    created &= descriptor->is_created();
   }
-  return true;
+  if (created)
+    this->state_ = CREATED;
+  return this->state_ == CREATED;
+}
+
+bool BLECharacteristic::is_failed() {
+  if (this->state_ == FAILED)
+    return true;
+
+  bool failed = false;
+  for (auto *descriptor : this->descriptors_) {
+    failed |= descriptor->is_failed();
+  }
+  if (failed)
+    this->state_ = FAILED;
+  return this->state_ == FAILED;
 }
 
 void BLECharacteristic::set_broadcast_property(bool value) {
@@ -168,7 +189,12 @@ void BLECharacteristic::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt
     case ESP_GATTS_ADD_CHAR_EVT: {
       if (this->uuid_ == ESPBTUUID::from_uuid(param->add_char.char_uuid)) {
         this->handle_ = param->add_char.attr_handle;
-        xSemaphoreGive(this->create_lock_);
+
+        for (auto *descriptor : this->descriptors_) {
+          descriptor->do_create(this);
+        }
+
+        this->state_ = CREATING_DEPENDENTS;
       }
       break;
     }
diff --git a/esphome/components/esp32_ble/ble_characteristic.h b/esphome/components/esp32_ble/ble_characteristic.h
index 076f5c1a5f..648cfb939d 100644
--- a/esphome/components/esp32_ble/ble_characteristic.h
+++ b/esphome/components/esp32_ble/ble_characteristic.h
@@ -42,10 +42,10 @@ class BLECharacteristic {
 
   void notify(bool notification = true);
 
-  bool do_create(BLEService *service);
+  void do_create(BLEService *service);
   void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if, esp_ble_gatts_cb_param_t *param);
 
-  void on_write(const std::function<void(const std::vector<uint8_t> &)> &func) { this->on_write_ = func; }
+  void on_write(const std::function<void(const std::vector<uint8_t> &)> &&func) { this->on_write_ = std::move(func); }
 
   void add_descriptor(BLEDescriptor *descriptor);
 
@@ -60,6 +60,9 @@ class BLECharacteristic {
   static const uint32_t PROPERTY_INDICATE = 1 << 4;
   static const uint32_t PROPERTY_WRITE_NR = 1 << 5;
 
+  bool is_created();
+  bool is_failed();
+
  protected:
   bool write_event_{false};
   BLEService *service_;
@@ -70,13 +73,20 @@ class BLECharacteristic {
   uint16_t value_read_offset_{0};
   std::vector<uint8_t> value_;
   SemaphoreHandle_t set_value_lock_;
-  SemaphoreHandle_t create_lock_;
 
   std::vector<BLEDescriptor *> descriptors_;
 
   std::function<void(const std::vector<uint8_t> &)> on_write_;
 
   esp_gatt_perm_t permissions_ = ESP_GATT_PERM_READ | ESP_GATT_PERM_WRITE;
+
+  enum State : uint8_t {
+    FAILED = 0x00,
+    INIT,
+    CREATING,
+    CREATING_DEPENDENTS,
+    CREATED,
+  } state_{INIT};
 };
 
 }  // namespace esp32_ble
diff --git a/esphome/components/esp32_ble/ble_descriptor.cpp b/esphome/components/esp32_ble/ble_descriptor.cpp
index 4c4e3968e8..9738cc2fe7 100644
--- a/esphome/components/esp32_ble/ble_descriptor.cpp
+++ b/esphome/components/esp32_ble/ble_descriptor.cpp
@@ -16,30 +16,25 @@ BLEDescriptor::BLEDescriptor(ESPBTUUID uuid, uint16_t max_len) {
   this->value_.attr_len = 0;
   this->value_.attr_max_len = max_len;
   this->value_.attr_value = (uint8_t *) malloc(max_len);
-
-  this->create_lock_ = xSemaphoreCreateBinary();
-  xSemaphoreGive(this->create_lock_);
 }
 
 BLEDescriptor::~BLEDescriptor() { free(this->value_.attr_value); }
 
-bool BLEDescriptor::do_create(BLECharacteristic *characteristic) {
+void BLEDescriptor::do_create(BLECharacteristic *characteristic) {
   this->characteristic_ = characteristic;
   esp_attr_control_t control;
   control.auto_rsp = ESP_GATT_AUTO_RSP;
 
-  xSemaphoreTake(this->create_lock_, portMAX_DELAY);
   ESP_LOGV(TAG, "Creating descriptor - %s", this->uuid_.to_string().c_str());
   esp_bt_uuid_t uuid = this->uuid_.get_uuid();
   esp_err_t err = esp_ble_gatts_add_char_descr(this->characteristic_->get_service()->get_handle(), &uuid,
                                                this->permissions_, &this->value_, &control);
   if (err != ESP_OK) {
     ESP_LOGE(TAG, "esp_ble_gatts_add_char_descr failed: %d", err);
-    return false;
+    this->state_ = FAILED;
+    return;
   }
-  xSemaphoreWait(this->create_lock_, portMAX_DELAY);
-
-  return true;
+  this->state_ = CREATING;
 }
 
 void BLEDescriptor::set_value(const std::string &value) { this->set_value((uint8_t *) value.data(), value.length()); }
@@ -60,7 +55,7 @@ void BLEDescriptor::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_
           this->characteristic_->get_service()->get_handle() == param->add_char_descr.service_handle &&
           this->characteristic_ == this->characteristic_->get_service()->get_last_created_characteristic()) {
         this->handle_ = param->add_char_descr.attr_handle;
-        xSemaphoreGive(this->create_lock_);
+        this->state_ = CREATED;
       }
       break;
     }
diff --git a/esphome/components/esp32_ble/ble_descriptor.h b/esphome/components/esp32_ble/ble_descriptor.h
index ffbb9645bd..bc7b48e331 100644
--- a/esphome/components/esp32_ble/ble_descriptor.h
+++ b/esphome/components/esp32_ble/ble_descriptor.h
@@ -16,22 +16,31 @@ class BLEDescriptor {
  public:
   BLEDescriptor(ESPBTUUID uuid, uint16_t max_len = 100);
   virtual ~BLEDescriptor();
-  bool do_create(BLECharacteristic *characteristic);
+  void do_create(BLECharacteristic *characteristic);
 
   void set_value(const std::string &value);
   void set_value(const uint8_t *data, size_t length);
 
   void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if, esp_ble_gatts_cb_param_t *param);
 
+  bool is_created() { return this->state_ == CREATED; }
+  bool is_failed() { return this->state_ == FAILED; }
+
  protected:
   BLECharacteristic *characteristic_{nullptr};
   ESPBTUUID uuid_;
   uint16_t handle_{0xFFFF};
-  SemaphoreHandle_t create_lock_;
 
   esp_attr_value_t value_;
 
   esp_gatt_perm_t permissions_ = ESP_GATT_PERM_READ | ESP_GATT_PERM_WRITE;
+
+  enum State : uint8_t {
+    FAILED = 0x00,
+    INIT,
+    CREATING,
+    CREATED,
+  } state_{INIT};
 };
 
 }  // namespace esp32_ble
diff --git a/esphome/components/esp32_ble/ble_server.cpp b/esphome/components/esp32_ble/ble_server.cpp
index a63312dd62..9d5be46113 100644
--- a/esphome/components/esp32_ble/ble_server.cpp
+++ b/esphome/components/esp32_ble/ble_server.cpp
@@ -18,7 +18,7 @@ namespace esp32_ble {
 
 static const char *TAG = "esp32_ble.server";
 
-static const uint16_t DEVICE_INFORMATION_SERVICE_UUID = 0x180A;
+static const uint16_t device_information_service__UUID = 0x180A;
 static const uint16_t MODEL_UUID = 0x2A24;
 static const uint16_t VERSION_UUID = 0x2A26;
 static const uint16_t MANUFACTURER_UUID = 0x2A29;
@@ -32,59 +32,78 @@ void BLEServer::setup() {
   ESP_LOGD(TAG, "Setting up BLE Server...");
 
   global_ble_server = this;
-  this->register_lock_ = xSemaphoreCreateBinary();
-  xSemaphoreGive(this->register_lock_);
+
   this->advertising_ = new BLEAdvertising();
-
-  this->setup_server_();
-
-  for (auto *component : this->service_components_) {
-    component->setup_service();
-  }
-
-  ESP_LOGD(TAG, "BLE Server set up complete...");
 }
 
-void BLEServer::setup_server_() {
-  xSemaphoreTake(this->register_lock_, portMAX_DELAY);
-  esp_err_t err = esp_ble_gatts_app_register(0);
-  if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_ble_gatts_app_register failed: %d", err);
-    this->mark_failed();
-    return;
+void BLEServer::loop() {
+  switch (this->state_) {
+    case RUNNING:
+      return;
+
+    case INIT: {
+      esp_err_t err = esp_ble_gatts_app_register(0);
+      if (err != ESP_OK) {
+        ESP_LOGE(TAG, "esp_ble_gatts_app_register failed: %d", err);
+        this->mark_failed();
+        return;
+      }
+      this->state_ = REGISTERING;
+      break;
+    }
+    case REGISTERING: {
+      if (this->registered_) {
+        this->device_information_service_ = this->create_service(device_information_service__UUID);
+
+        this->create_device_characteristics_();
+
+        this->advertising_->set_scan_response(true);
+        this->advertising_->set_min_preferred_interval(0x06);
+        this->advertising_->start();
+
+        this->state_ = STARTING_SERVICE;
+      }
+      break;
+    }
+    case STARTING_SERVICE: {
+      if (this->device_information_service_->is_running()) {
+        for (auto *component : this->service_components_) {
+          component->setup_service();
+        }
+        this->state_ = SETTING_UP_COMPONENT_SERVICES;
+      } else if (!this->device_information_service_->is_starting()) {
+        this->device_information_service_->start();
+      }
+      break;
+    }
+    case SETTING_UP_COMPONENT_SERVICES: {
+      this->state_ = RUNNING;
+      this->can_proceed_ = true;
+      ESP_LOGD(TAG, "BLE server setup successfully");
+      break;
+    }
   }
-  xSemaphoreWait(this->register_lock_, portMAX_DELAY);
-
-  this->device_information_service = this->create_service(DEVICE_INFORMATION_SERVICE_UUID);
-
-  this->create_device_characteristics_();
-
-  this->advertising_->set_scan_response(true);
-  this->advertising_->set_min_preferred_interval(0x06);
-  this->advertising_->start();
-
-  this->device_information_service->start();
 }
 
 bool BLEServer::create_device_characteristics_() {
   if (this->model_.has_value()) {
     BLECharacteristic *model =
-        this->device_information_service->create_characteristic(MODEL_UUID, BLECharacteristic::PROPERTY_READ);
+        this->device_information_service_->create_characteristic(MODEL_UUID, BLECharacteristic::PROPERTY_READ);
     model->set_value(this->model_.value());
   } else {
 #ifdef ARDUINO_BOARD
     BLECharacteristic *model =
-        this->device_information_service->create_characteristic(MODEL_UUID, BLECharacteristic::PROPERTY_READ);
+        this->device_information_service_->create_characteristic(MODEL_UUID, BLECharacteristic::PROPERTY_READ);
     model->set_value(ARDUINO_BOARD);
 #endif
   }
 
   BLECharacteristic *version =
-      this->device_information_service->create_characteristic(VERSION_UUID, BLECharacteristic::PROPERTY_READ);
+      this->device_information_service_->create_characteristic(VERSION_UUID, BLECharacteristic::PROPERTY_READ);
   version->set_value("ESPHome " ESPHOME_VERSION);
 
   BLECharacteristic *manufacturer =
-      this->device_information_service->create_characteristic(MANUFACTURER_UUID, BLECharacteristic::PROPERTY_READ);
+      this->device_information_service_->create_characteristic(MANUFACTURER_UUID, BLECharacteristic::PROPERTY_READ);
   manufacturer->set_value(this->manufacturer_);
 
   return true;
@@ -134,7 +153,7 @@ void BLEServer::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t ga
     }
     case ESP_GATTS_REG_EVT: {
       this->gatts_if_ = gatts_if;
-      xSemaphoreGive(this->register_lock_);
+      this->registered_ = true;
       break;
     }
     default:
diff --git a/esphome/components/esp32_ble/ble_server.h b/esphome/components/esp32_ble/ble_server.h
index 0713816ad3..5657773446 100644
--- a/esphome/components/esp32_ble/ble_server.h
+++ b/esphome/components/esp32_ble/ble_server.h
@@ -24,13 +24,17 @@ class BLEServiceComponent {
   virtual void setup_service();
   virtual void on_client_connect(){};
   virtual void on_client_disconnect(){};
+  virtual void start();
+  virtual void stop();
 };
 
 class BLEServer : public Component {
  public:
   void setup() override;
+  void loop() override;
   void dump_config() override;
   float get_setup_priority() const override;
+  bool can_proceed() override { return this->can_proceed_; }
 
   void teardown();
 
@@ -53,27 +57,35 @@ class BLEServer : public Component {
 
  protected:
   bool create_device_characteristics_();
-  void setup_server_();
 
   void add_client_(uint16_t conn_id, void *client) {
     this->clients_.insert(std::pair<uint16_t, void *>(conn_id, client));
   }
   bool remove_client_(uint16_t conn_id) { return this->clients_.erase(conn_id) > 0; }
 
+  bool can_proceed_{false};
+
   std::string manufacturer_;
   optional<std::string> model_;
   esp_gatt_if_t gatts_if_{0};
+  bool registered_{false};
   BLEAdvertising *advertising_;
 
   uint32_t connected_clients_{0};
   std::map<uint16_t, void *> clients_;
 
   std::vector<BLEService *> services_;
-  BLEService *device_information_service;
+  BLEService *device_information_service_;
 
   std::vector<BLEServiceComponent *> service_components_;
 
-  SemaphoreHandle_t register_lock_;
+  enum State : uint8_t {
+    INIT = 0x00,
+    REGISTERING,
+    STARTING_SERVICE,
+    SETTING_UP_COMPONENT_SERVICES,
+    RUNNING,
+  } state_{INIT};
 };
 
 extern BLEServer *global_ble_server;
diff --git a/esphome/components/esp32_ble/ble_service.cpp b/esphome/components/esp32_ble/ble_service.cpp
index af8fe00a1d..4b85182696 100644
--- a/esphome/components/esp32_ble/ble_service.cpp
+++ b/esphome/components/esp32_ble/ble_service.cpp
@@ -10,15 +10,7 @@ namespace esp32_ble {
 static const char *TAG = "esp32_ble.service";
 
 BLEService::BLEService(ESPBTUUID uuid, uint16_t num_handles, uint8_t inst_id)
-    : uuid_(uuid), num_handles_(num_handles), inst_id_(inst_id) {
-  this->create_lock_ = xSemaphoreCreateBinary();
-  this->start_lock_ = xSemaphoreCreateBinary();
-  this->stop_lock_ = xSemaphoreCreateBinary();
-
-  xSemaphoreGive(this->create_lock_);
-  xSemaphoreGive(this->start_lock_);
-  xSemaphoreGive(this->stop_lock_);
-}
+    : uuid_(uuid), num_handles_(num_handles), inst_id_(inst_id) {}
 
 BLEService::~BLEService() {
   for (auto &chr : this->characteristics_)
@@ -47,10 +39,9 @@ BLECharacteristic *BLEService::create_characteristic(ESPBTUUID uuid, esp_gatt_ch
   return characteristic;
 }
 
-bool BLEService::do_create(BLEServer *server) {
+void BLEService::do_create(BLEServer *server) {
   this->server_ = server;
 
-  xSemaphoreTake(this->create_lock_, portMAX_DELAY);
   esp_gatt_srvc_id_t srvc_id;
   srvc_id.is_primary = true;
   srvc_id.id.inst_id = this->inst_id_;
@@ -59,36 +50,58 @@ bool BLEService::do_create(BLEServer *server) {
   esp_err_t err = esp_ble_gatts_create_service(server->get_gatts_if(), &srvc_id, this->num_handles_);
   if (err != ESP_OK) {
     ESP_LOGE(TAG, "esp_ble_gatts_create_service failed: %d", err);
-    return false;
+    this->init_state_ = FAILED;
+    return;
   }
-  xSemaphoreWait(this->create_lock_, portMAX_DELAY);
+  this->init_state_ = CREATING;
+}
 
+bool BLEService::do_create_characteristics_() {
+  if (this->created_characteristic_count_ >= this->characteristics_.size() &&
+      (this->last_created_characteristic_ == nullptr || this->last_created_characteristic_->is_created()))
+    return false;  // Signifies there are no characteristics, or they are all finished being created.
+
+  if (this->last_created_characteristic_ != nullptr && !this->last_created_characteristic_->is_created())
+    return true;  // Signifies that the previous characteristic is still being created.
+
+  auto *characteristic = this->characteristics_[this->created_characteristic_count_++];
+  this->last_created_characteristic_ = characteristic;
+  characteristic->do_create(this);
   return true;
 }
 
 void BLEService::start() {
-  for (auto *characteristic : this->characteristics_) {
-    this->last_created_characteristic_ = characteristic;
-    characteristic->do_create(this);
-  }
+  if (this->do_create_characteristics_())
+    return;
 
-  xSemaphoreTake(this->start_lock_, portMAX_DELAY);
   esp_err_t err = esp_ble_gatts_start_service(this->handle_);
   if (err != ESP_OK) {
     ESP_LOGE(TAG, "esp_ble_gatts_start_service failed: %d", err);
     return;
   }
-  xSemaphoreWait(this->start_lock_, portMAX_DELAY);
+  this->running_state_ = STARTING;
 }
 
 void BLEService::stop() {
-  xSemaphoreTake(this->stop_lock_, portMAX_DELAY);
   esp_err_t err = esp_ble_gatts_stop_service(this->handle_);
   if (err != ESP_OK) {
     ESP_LOGE(TAG, "esp_ble_gatts_stop_service failed: %d", err);
     return;
   }
-  xSemaphoreWait(this->stop_lock_, portMAX_DELAY);
+  this->running_state_ = STOPPING;
+}
+
+bool BLEService::is_created() { return this->init_state_ == CREATED; }
+bool BLEService::is_failed() {
+  if (this->init_state_ == FAILED)
+    return true;
+  bool failed = false;
+  for (auto *characteristic : this->characteristics_)
+    failed |= characteristic->is_failed();
+
+  if (failed)
+    this->init_state_ = FAILED;
+  return this->init_state_ == FAILED;
 }
 
 void BLEService::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if,
@@ -98,19 +111,19 @@ void BLEService::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t g
       if (this->uuid_ == ESPBTUUID::from_uuid(param->create.service_id.id.uuid) &&
           this->inst_id_ == param->create.service_id.id.inst_id) {
         this->handle_ = param->create.service_handle;
-        xSemaphoreGive(this->create_lock_);
+        this->init_state_ = CREATED;
       }
       break;
     }
     case ESP_GATTS_START_EVT: {
       if (param->start.service_handle == this->handle_) {
-        xSemaphoreGive(this->start_lock_);
+        this->running_state_ = RUNNING;
       }
       break;
     }
     case ESP_GATTS_STOP_EVT: {
       if (param->start.service_handle == this->handle_) {
-        xSemaphoreGive(this->stop_lock_);
+        this->running_state_ = STOPPED;
       }
       break;
     }
diff --git a/esphome/components/esp32_ble/ble_service.h b/esphome/components/esp32_ble/ble_service.h
index 9a88d4e1e7..a539631846 100644
--- a/esphome/components/esp32_ble/ble_service.h
+++ b/esphome/components/esp32_ble/ble_service.h
@@ -33,26 +33,44 @@ class BLEService {
 
   BLEServer *get_server() { return this->server_; }
 
-  bool do_create(BLEServer *server);
+  void do_create(BLEServer *server);
   void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_if, esp_ble_gatts_cb_param_t *param);
 
   void start();
   void stop();
 
- protected:
-  bool errored_{false};
+  bool is_created();
+  bool is_failed();
 
+  bool is_running() { return this->running_state_ == RUNNING; }
+  bool is_starting() { return this->running_state_ == STARTING; }
+
+ protected:
   std::vector<BLECharacteristic *> characteristics_;
   BLECharacteristic *last_created_characteristic_{nullptr};
+  uint32_t created_characteristic_count_{0};
   BLEServer *server_;
   ESPBTUUID uuid_;
   uint16_t num_handles_;
   uint16_t handle_{0xFFFF};
   uint8_t inst_id_;
 
-  SemaphoreHandle_t create_lock_;
-  SemaphoreHandle_t start_lock_;
-  SemaphoreHandle_t stop_lock_;
+  bool do_create_characteristics_();
+
+  enum InitState : uint8_t {
+    FAILED = 0x00,
+    INIT,
+    CREATING,
+    CREATING_DEPENDENTS,
+    CREATED,
+  } init_state_{INIT};
+
+  enum RunningState : uint8_t {
+    STARTING,
+    RUNNING,
+    STOPPING,
+    STOPPED,
+  } running_state_{STOPPED};
 };
 
 }  // namespace esp32_ble
diff --git a/esphome/components/esp32_ble/queue.h b/esphome/components/esp32_ble/queue.h
index f5c861a917..3c87a90f22 100644
--- a/esphome/components/esp32_ble/queue.h
+++ b/esphome/components/esp32_ble/queue.h
@@ -53,7 +53,7 @@ template<class T> class Queue {
   SemaphoreHandle_t m;
 };
 
-// Received GAP and GATTC events are only queued, and get processed in the main loop().
+// 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:
@@ -68,9 +68,18 @@ class BLEEvent {
     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.
-    if (e == ESP_GATTC_NOTIFY_EVT) {
-      memcpy(this->event_.gattc.notify_data, p->notify.value, p->notify.value_len);
-      this->event_.gattc.gattc_param.notify.value = this->event_.gattc.notify_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;
   };
@@ -79,6 +88,15 @@ class BLEEvent {
     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;
   };
 
@@ -92,13 +110,14 @@ class BLEEvent {
       esp_gattc_cb_event_t gattc_event;
       esp_gatt_if_t gattc_if;
       esp_ble_gattc_cb_param_t gattc_param;
-      uint8_t notify_data[64];
+      uint8_t data[64];
     } gattc;
 
     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_;
   enum ble_event_t : uint8_t {
diff --git a/esphome/components/esp32_improv/esp32_improv_component.cpp b/esphome/components/esp32_improv/esp32_improv_component.cpp
index a407d819b7..491f26f46e 100644
--- a/esphome/components/esp32_improv/esp32_improv_component.cpp
+++ b/esphome/components/esp32_improv/esp32_improv_component.cpp
@@ -14,7 +14,9 @@ ESP32ImprovComponent::ESP32ImprovComponent() { global_improv_component = this; }
 
 void ESP32ImprovComponent::setup_service() {
   this->service_ = esp32_ble::global_ble_server->create_service(improv::SERVICE_UUID, true);
+}
 
+void ESP32ImprovComponent::setup_characteristics() {
   this->status_ = this->service_->create_characteristic(
       improv::STATUS_UUID, esp32_ble::BLECharacteristic::PROPERTY_READ | esp32_ble::BLECharacteristic::PROPERTY_NOTIFY);
   esp32_ble::BLEDescriptor *status_descriptor = new esp32_ble::BLE2902();
@@ -62,16 +64,21 @@ void ESP32ImprovComponent::loop() {
       if (this->status_indicator_ != nullptr)
         this->status_indicator_->turn_off();
 
+      if (this->service_->is_created() && !this->setup_complete_) {
+        this->setup_characteristics();
+      }
+
       if (this->should_start_ && this->setup_complete_) {
-        ESP_LOGD(TAG, "Starting Improv service...");
+        if (this->service_->is_running()) {
+          this->service_->get_server()->get_advertising()->start();
 
-        this->service_->start();
-        this->service_->get_server()->get_advertising()->start();
-
-        this->set_state_(improv::STATE_AWAITING_AUTHORIZATION);
-        this->set_error_(improv::ERROR_NONE);
-        this->should_start_ = false;
-        ESP_LOGD(TAG, "Service started!");
+          this->set_state_(improv::STATE_AWAITING_AUTHORIZATION);
+          this->set_error_(improv::ERROR_NONE);
+          this->should_start_ = false;
+          ESP_LOGD(TAG, "Service started!");
+        } else {
+          this->service_->start();
+        }
       }
       break;
     case improv::STATE_AWAITING_AUTHORIZATION: {
@@ -191,7 +198,7 @@ void ESP32ImprovComponent::start() {
   this->should_start_ = true;
 }
 
-void ESP32ImprovComponent::end() {
+void ESP32ImprovComponent::stop() {
   this->set_timeout("end-service", 1000, [this] {
     this->service_->stop();
     this->set_state_(improv::STATE_STOPPED);
diff --git a/esphome/components/esp32_improv/esp32_improv_component.h b/esphome/components/esp32_improv/esp32_improv_component.h
index 498a443ec3..e9b0c72ecd 100644
--- a/esphome/components/esp32_improv/esp32_improv_component.h
+++ b/esphome/components/esp32_improv/esp32_improv_component.h
@@ -21,11 +21,12 @@ class ESP32ImprovComponent : public Component, public esp32_ble::BLEServiceCompo
   void dump_config() override;
   void loop() override;
   void setup_service() override;
+  void setup_characteristics();
   void on_client_disconnect() override;
 
   float get_setup_priority() const override;
-  void start();
-  void end();
+  void start() override;
+  void stop() override;
   bool is_active() const { return this->state_ != improv::STATE_STOPPED; }
 
   void set_authorizer(binary_sensor::BinarySensor *authorizer) { this->authorizer_ = authorizer; }
diff --git a/esphome/components/light/light_state.cpp b/esphome/components/light/light_state.cpp
index 4e450f6ccb..749dea5419 100644
--- a/esphome/components/light/light_state.cpp
+++ b/esphome/components/light/light_state.cpp
@@ -407,7 +407,7 @@ LightColorValues LightCall::validate_() {
     this->color_temperature_.reset();
   }
 
-  // sets RGB to 100% if only White specified
+  // If white channel is specified, set RGB to white color (when interlock is enabled)
   if (this->white_.has_value()) {
     if (traits.get_supports_color_interlock()) {
       if (!this->red_.has_value() && !this->green_.has_value() && !this->blue_.has_value()) {
@@ -415,7 +415,7 @@ LightColorValues LightCall::validate_() {
         this->green_ = optional<float>(1.0f);
         this->blue_ = optional<float>(1.0f);
       }
-      // make white values binary aka 0.0f or 1.0f...this allows brightness to do its job
+      // make white values binary aka 0.0f or 1.0f... this allows brightness to do its job
       if (*this->white_ > 0.0f) {
         this->white_ = optional<float>(1.0f);
       } else {
@@ -423,44 +423,27 @@ LightColorValues LightCall::validate_() {
       }
     }
   }
-  // White to 0% if (exclusively) setting any RGB value that isn't 255,255,255
+  // If only a color channel is specified, set white channel to 100% for white, otherwise 0% (when interlock is enabled)
   else if (this->red_.has_value() || this->green_.has_value() || this->blue_.has_value()) {
     if (traits.get_supports_color_interlock()) {
-      if (*this->red_ == 1.0f && *this->green_ == 1.0f && *this->blue_ == 1.0f &&
-          traits.get_supports_rgb_white_value() && traits.get_supports_color_interlock()) {
+      if (*this->red_ == 1.0f && *this->green_ == 1.0f && *this->blue_ == 1.0f) {
         this->white_ = optional<float>(1.0f);
-      } else if (!this->white_.has_value() || !traits.get_supports_rgb_white_value()) {
+      } else {
         this->white_ = optional<float>(0.0f);
       }
     }
   }
-  // if changing Kelvin alone, change to white light
+  // If only a color temperature is specified, change to white light
   else if (this->color_temperature_.has_value()) {
-    if (!traits.get_supports_color_interlock()) {
-      if (!this->red_.has_value() && !this->green_.has_value() && !this->blue_.has_value()) {
-        this->red_ = optional<float>(1.0f);
-        this->green_ = optional<float>(1.0f);
-        this->blue_ = optional<float>(1.0f);
-      }
-    }
-    // if setting Kelvin from color (i.e. switching to white light), set White to 100%
+    this->red_ = optional<float>(1.0f);
+    this->green_ = optional<float>(1.0f);
+    this->blue_ = optional<float>(1.0f);
+
+    // if setting color temperature from color (i.e. switching to white light), set White to 100%
     auto cv = this->parent_->remote_values;
     bool was_color = cv.get_red() != 1.0f || cv.get_blue() != 1.0f || cv.get_green() != 1.0f;
-    bool now_white = *this->red_ == 1.0f && *this->blue_ == 1.0f && *this->green_ == 1.0f;
-    if (traits.get_supports_color_interlock()) {
-      if (cv.get_white() < 1.0f) {
-        this->white_ = optional<float>(1.0f);
-      }
-
-      if (was_color && !this->red_.has_value() && !this->green_.has_value() && !this->blue_.has_value()) {
-        this->red_ = optional<float>(1.0f);
-        this->green_ = optional<float>(1.0f);
-        this->blue_ = optional<float>(1.0f);
-      }
-    } else {
-      if (!this->white_.has_value() && was_color && now_white) {
-        this->white_ = optional<float>(1.0f);
-      }
+    if (traits.get_supports_color_interlock() || was_color) {
+      this->white_ = optional<float>(1.0f);
     }
   }
 
diff --git a/esphome/components/waveshare_epaper/display.py b/esphome/components/waveshare_epaper/display.py
index 42509f39f1..3e1132bb1d 100644
--- a/esphome/components/waveshare_epaper/display.py
+++ b/esphome/components/waveshare_epaper/display.py
@@ -46,6 +46,7 @@ WaveshareEPaperTypeBModel = waveshare_epaper_ns.enum("WaveshareEPaperTypeBModel"
 
 MODELS = {
     "1.54in": ("a", WaveshareEPaperTypeAModel.WAVESHARE_EPAPER_1_54_IN),
+    "1.54inv2": ("a", WaveshareEPaperTypeAModel.WAVESHARE_EPAPER_1_54_IN_V2),
     "2.13in": ("a", WaveshareEPaperTypeAModel.WAVESHARE_EPAPER_2_13_IN),
     "2.13in-ttgo": ("a", WaveshareEPaperTypeAModel.TTGO_EPAPER_2_13_IN),
     "2.13in-ttgo-b1": ("a", WaveshareEPaperTypeAModel.TTGO_EPAPER_2_13_IN_B1),
@@ -67,7 +68,7 @@ def validate_full_update_every_only_type_a(value):
     if MODELS[value[CONF_MODEL]][0] != "a":
         raise cv.Invalid(
             "The 'full_update_every' option is only available for models "
-            "'1.54in', '2.13in', '2.90in', and '2.90inV2'."
+            "'1.54in', '1.54inV2', '2.13in', '2.90in', and '2.90inV2'."
         )
     return value
 
diff --git a/esphome/components/waveshare_epaper/waveshare_epaper.cpp b/esphome/components/waveshare_epaper/waveshare_epaper.cpp
index 0fb783107d..daaa77b7fa 100644
--- a/esphome/components/waveshare_epaper/waveshare_epaper.cpp
+++ b/esphome/components/waveshare_epaper/waveshare_epaper.cpp
@@ -210,6 +210,9 @@ void WaveshareEPaperTypeA::dump_config() {
     case WAVESHARE_EPAPER_1_54_IN:
       ESP_LOGCONFIG(TAG, "  Model: 1.54in");
       break;
+    case WAVESHARE_EPAPER_1_54_IN_V2:
+      ESP_LOGCONFIG(TAG, "  Model: 1.54inV2");
+      break;
     case WAVESHARE_EPAPER_2_13_IN:
       ESP_LOGCONFIG(TAG, "  Model: 2.13in");
       break;
@@ -334,7 +337,7 @@ void HOT WaveshareEPaperTypeA::display() {
 
   // COMMAND DISPLAY UPDATE CONTROL 2
   this->command(0x22);
-  if (this->model_ == WAVESHARE_EPAPER_2_9_IN_V2) {
+  if (this->model_ == WAVESHARE_EPAPER_2_9_IN_V2 || this->model_ == WAVESHARE_EPAPER_1_54_IN_V2) {
     this->data(full_update ? 0xF7 : 0xFF);
   } else if (this->model_ == TTGO_EPAPER_2_13_IN_B73) {
     this->data(0xC7);
@@ -353,6 +356,8 @@ int WaveshareEPaperTypeA::get_width_internal() {
   switch (this->model_) {
     case WAVESHARE_EPAPER_1_54_IN:
       return 200;
+    case WAVESHARE_EPAPER_1_54_IN_V2:
+      return 200;
     case WAVESHARE_EPAPER_2_13_IN:
       return 128;
     case TTGO_EPAPER_2_13_IN:
@@ -372,6 +377,8 @@ int WaveshareEPaperTypeA::get_height_internal() {
   switch (this->model_) {
     case WAVESHARE_EPAPER_1_54_IN:
       return 200;
+    case WAVESHARE_EPAPER_1_54_IN_V2:
+      return 200;
     case WAVESHARE_EPAPER_2_13_IN:
       return 250;
     case TTGO_EPAPER_2_13_IN:
diff --git a/esphome/components/waveshare_epaper/waveshare_epaper.h b/esphome/components/waveshare_epaper/waveshare_epaper.h
index 0b8958e7f0..8ab77d653b 100644
--- a/esphome/components/waveshare_epaper/waveshare_epaper.h
+++ b/esphome/components/waveshare_epaper/waveshare_epaper.h
@@ -66,6 +66,7 @@ class WaveshareEPaper : public PollingComponent,
 
 enum WaveshareEPaperTypeAModel {
   WAVESHARE_EPAPER_1_54_IN = 0,
+  WAVESHARE_EPAPER_1_54_IN_V2,
   WAVESHARE_EPAPER_2_13_IN,
   WAVESHARE_EPAPER_2_9_IN,
   WAVESHARE_EPAPER_2_9_IN_V2,
@@ -85,7 +86,7 @@ class WaveshareEPaperTypeA : public WaveshareEPaper {
   void display() override;
 
   void deep_sleep() override {
-    if (this->model_ == WAVESHARE_EPAPER_2_9_IN_V2) {
+    if (this->model_ == WAVESHARE_EPAPER_2_9_IN_V2 || this->model_ == WAVESHARE_EPAPER_1_54_IN_V2) {
       // COMMAND DEEP SLEEP MODE
       this->command(0x10);
       this->data(0x01);
diff --git a/esphome/components/wifi/wifi_component.cpp b/esphome/components/wifi/wifi_component.cpp
index da1f6f85a7..de7ffb4f09 100644
--- a/esphome/components/wifi/wifi_component.cpp
+++ b/esphome/components/wifi/wifi_component.cpp
@@ -508,7 +508,7 @@ void WiFiComponent::check_connecting_finished() {
     }
 #ifdef USE_IMPROV
     if (this->is_esp32_improv_active_()) {
-      esp32_improv::global_improv_component->end();
+      esp32_improv::global_improv_component->stop();
     }
 #endif
 
diff --git a/esphome/const.py b/esphome/const.py
index 159a74adc2..30df9abe17 100644
--- a/esphome/const.py
+++ b/esphome/const.py
@@ -2,7 +2,7 @@
 
 MAJOR_VERSION = 1
 MINOR_VERSION = 19
-PATCH_VERSION = "0b1"
+PATCH_VERSION = "0b2"
 __short_version__ = f"{MAJOR_VERSION}.{MINOR_VERSION}"
 __version__ = f"{__short_version__}.{PATCH_VERSION}"