diff --git a/esphome/core/helpers.cpp b/esphome/core/helpers.cpp
index 4ac9303b20..7f5c3ad333 100644
--- a/esphome/core/helpers.cpp
+++ b/esphome/core/helpers.cpp
@@ -393,13 +393,13 @@ void hsv_to_rgb(int hue, float saturation, float value, float &red, float &green
 }
 
 // System APIs
-#if defined(USE_ESP8266)
+#if defined(USE_ESP8266) || defined(USE_RP2040)
 // ESP8266 doesn't have mutexes, but that shouldn't be an issue as it's single-core and non-preemptive OS.
 Mutex::Mutex() {}
 void Mutex::lock() {}
 bool Mutex::try_lock() { return true; }
 void Mutex::unlock() {}
-#elif defined(USE_ESP32) || defined(USE_RP2040)
+#elif defined(USE_ESP32)
 Mutex::Mutex() { handle_ = xSemaphoreCreateMutex(); }
 void Mutex::lock() { xSemaphoreTake(this->handle_, portMAX_DELAY); }
 bool Mutex::try_lock() { return xSemaphoreTake(this->handle_, 0) == pdTRUE; }
diff --git a/esphome/core/helpers.h b/esphome/core/helpers.h
index 0d2a7e298a..a107b1b849 100644
--- a/esphome/core/helpers.h
+++ b/esphome/core/helpers.h
@@ -17,9 +17,6 @@
 #if defined(USE_ESP32)
 #include <freertos/FreeRTOS.h>
 #include <freertos/semphr.h>
-#elif defined(USE_RP2040)
-#include <FreeRTOS.h>
-#include <semphr.h>
 #endif
 
 #define HOT __attribute__((hot))
@@ -539,7 +536,7 @@ class Mutex {
   Mutex &operator=(const Mutex &) = delete;
 
  private:
-#if defined(USE_ESP32) || defined(USE_RP2040)
+#if defined(USE_ESP32)
   SemaphoreHandle_t handle_;
 #endif
 };