diff --git a/CODEOWNERS b/CODEOWNERS
index a7d5c137c1..772debab5c 100644
--- a/CODEOWNERS
+++ b/CODEOWNERS
@@ -97,6 +97,7 @@ esphome/components/esp32_ble/* @Rapsssito @jesserockz
 esphome/components/esp32_ble_client/* @jesserockz
 esphome/components/esp32_ble_server/* @Rapsssito @clydebarrow @jesserockz
 esphome/components/esp32_bt_classic/* @RoboMagus
+esphome/components/esp32_bt_common/* @RoboMagus
 esphome/components/esp32_camera_web_server/* @ayufan
 esphome/components/esp32_can/* @Sympatron
 esphome/components/esp32_improv/* @jesserockz
diff --git a/esphome/components/bt_classic_presence/binary_sensor.py b/esphome/components/bt_classic_presence/binary_sensor.py
index 21febda624..53c96c1e27 100644
--- a/esphome/components/bt_classic_presence/binary_sensor.py
+++ b/esphome/components/bt_classic_presence/binary_sensor.py
@@ -1,12 +1,10 @@
 import esphome.codegen as cg
 import esphome.config_validation as cv
 from esphome.components import binary_sensor
-from esphome.const import CONF_MAC_ADDRESS
+from esphome.const import CONF_MAC_ADDRESS, CONF_NUM_SCANS
 from esphome.components.esp32_bt_classic import ESP32BtClassic
-from esphome.components.esp32_bt_classic.const import (
-    CONF_ESP32_BTCLASSIC_ID,
-    CONF_NUM_SCANS,
-)
+from esphome.components.esp32_bt_classic.const import CONF_ESP32_BTCLASSIC_ID
+
 
 DEPENDENCIES = ["esp32_bt_classic"]
 
diff --git a/esphome/components/esp32_ble/__init__.py b/esphome/components/esp32_ble/__init__.py
index 57a7341505..f9bf3fe236 100644
--- a/esphome/components/esp32_ble/__init__.py
+++ b/esphome/components/esp32_ble/__init__.py
@@ -5,6 +5,7 @@ from esphome.const import CONF_ID
 from esphome.core import CORE
 from esphome.components.esp32 import add_idf_sdkconfig_option, get_esp32_variant, const
 
+AUTO_LOAD = ["esp32_bt_common"]
 DEPENDENCIES = ["esp32"]
 CODEOWNERS = ["@jesserockz", "@Rapsssito"]
 CONFLICTS_WITH = ["esp32_ble_beacon"]
diff --git a/esphome/components/esp32_ble/ble.cpp b/esphome/components/esp32_ble/ble.cpp
index 3797f3221e..0a1a5ca71c 100644
--- a/esphome/components/esp32_ble/ble.cpp
+++ b/esphome/components/esp32_ble/ble.cpp
@@ -13,9 +13,7 @@
 #include <freertos/task.h>
 #include <nvs_flash.h>
 
-#ifdef USE_ARDUINO
-#include <esp32-hal-bt.h>
-#endif
+#include "esphome/components/esp32_bt_common/bt_defs.h"
 
 namespace esphome {
 namespace esp32_ble {
@@ -124,7 +122,7 @@ bool ESP32BLE::ble_setup_() {
         ;
     }
     if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_INITED) {
-      err = esp_bt_controller_enable(ESP_BT_MODE_BLE);
+      err = esp_bt_controller_enable(BT_MODE);
       if (err != ESP_OK) {
         ESP_LOGE(TAG, "esp_bt_controller_enable failed: %s", esp_err_to_name(err));
         return false;
diff --git a/esphome/components/esp32_ble/ble.h b/esphome/components/esp32_ble/ble.h
index 023960d6e4..c0470eacd4 100644
--- a/esphome/components/esp32_ble/ble.h
+++ b/esphome/components/esp32_ble/ble.h
@@ -9,7 +9,7 @@
 #include "esphome/core/helpers.h"
 
 #include "ble_event.h"
-#include "queue.h"
+#include "esphome/components/esp32_bt_common/queue.h"
 
 #ifdef USE_ESP32
 
@@ -118,7 +118,7 @@ class ESP32BLE : public Component {
   std::vector<BLEStatusEventHandler *> ble_status_event_handlers_;
   BLEComponentState state_{BLE_COMPONENT_STATE_OFF};
 
-  Queue<BLEEvent> ble_events_;
+  esp32_bt_common::Queue<BLEEvent> ble_events_;
   BLEAdvertising *advertising_;
   esp_ble_io_cap_t io_cap_{ESP_IO_CAP_NONE};
   bool enable_on_boot_;
diff --git a/esphome/components/esp32_ble_beacon/__init__.py b/esphome/components/esp32_ble_beacon/__init__.py
index 9aac48cbb2..a764cb3885 100644
--- a/esphome/components/esp32_ble_beacon/__init__.py
+++ b/esphome/components/esp32_ble_beacon/__init__.py
@@ -5,6 +5,7 @@ from esphome.core import CORE, TimePeriod
 from esphome.components.esp32 import add_idf_sdkconfig_option
 from esphome.components import esp32_ble
 
+AUTO_LOAD = ["esp32_bt_common"]
 DEPENDENCIES = ["esp32"]
 CONFLICTS_WITH = ["esp32_ble_tracker"]
 
diff --git a/esphome/components/esp32_ble_beacon/esp32_ble_beacon.cpp b/esphome/components/esp32_ble_beacon/esp32_ble_beacon.cpp
index 589fcc1e82..67f1b323bd 100644
--- a/esphome/components/esp32_ble_beacon/esp32_ble_beacon.cpp
+++ b/esphome/components/esp32_ble_beacon/esp32_ble_beacon.cpp
@@ -12,9 +12,7 @@
 #include <cstring>
 #include "esphome/core/hal.h"
 
-#ifdef USE_ARDUINO
-#include <esp32-hal-bt.h>
-#endif
+#include "esphome/components/esp32_bt_common/bt_defs.h"
 
 namespace esphome {
 namespace esp32_ble_beacon {
@@ -109,7 +107,7 @@ void ESP32BLEBeacon::ble_setup() {
         ;
     }
     if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_INITED) {
-      err = esp_bt_controller_enable(ESP_BT_MODE_BLE);
+      err = esp_bt_controller_enable(BT_MODE);
       if (err != ESP_OK) {
         ESP_LOGE(TAG, "esp_bt_controller_enable failed: %s", esp_err_to_name(err));
         return;
diff --git a/esphome/components/esp32_ble_server/ble_server.h b/esphome/components/esp32_ble_server/ble_server.h
index e379e67296..96e789fcdb 100644
--- a/esphome/components/esp32_ble_server/ble_server.h
+++ b/esphome/components/esp32_ble_server/ble_server.h
@@ -6,7 +6,6 @@
 #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"
 #include "esphome/core/component.h"
 #include "esphome/core/helpers.h"
 #include "esphome/core/preferences.h"
diff --git a/esphome/components/esp32_bt_classic/__init__.py b/esphome/components/esp32_bt_classic/__init__.py
index 1bb3dfdbe7..9ddbfd1488 100644
--- a/esphome/components/esp32_bt_classic/__init__.py
+++ b/esphome/components/esp32_bt_classic/__init__.py
@@ -24,7 +24,7 @@ from .const import (
 
 _LOGGER = logging.getLogger(__name__)
 
-AUTO_LOAD = ["esp32_ble"]
+AUTO_LOAD = ["esp32_bt_common"]
 DEPENDENCIES = ["esp32"]
 CODEOWNERS = ["@RoboMagus"]
 
@@ -161,3 +161,5 @@ async def to_code(config):
 
     if CORE.using_esp_idf:
         add_idf_sdkconfig_option("CONFIG_BT_ENABLED", True)
+        add_idf_sdkconfig_option("CONFIG_BTDM_CTRL_MODE_BTDM", True)
+        add_idf_sdkconfig_option("CONFIG_BT_CLASSIC_ENABLED", True)
diff --git a/esphome/components/esp32_bt_classic/bt_classic.cpp b/esphome/components/esp32_bt_classic/bt_classic.cpp
index d858f1cacb..c7701bc5b1 100644
--- a/esphome/components/esp32_bt_classic/bt_classic.cpp
+++ b/esphome/components/esp32_bt_classic/bt_classic.cpp
@@ -12,9 +12,7 @@
 #include <freertos/task.h>
 #include <nvs_flash.h>
 
-#ifdef USE_ARDUINO
-#include <esp32-hal-bt.h>
-#endif
+#include "esphome/components/esp32_bt_common/bt_defs.h"
 
 namespace esphome {
 namespace esp32_bt_classic {
@@ -63,7 +61,7 @@ bool ESP32BtClassic::bt_setup_() {
         ;
     }
     if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_INITED) {
-      err = esp_bt_controller_enable(ESP_BT_MODE_BLE);
+      err = esp_bt_controller_enable(BT_MODE);
       if (err != ESP_OK) {
         ESP_LOGE(TAG, "esp_bt_controller_enable failed: %s", esp_err_to_name(err));
         return false;
diff --git a/esphome/components/esp32_bt_classic/bt_classic.h b/esphome/components/esp32_bt_classic/bt_classic.h
index deeb377417..b0b1f788c8 100644
--- a/esphome/components/esp32_bt_classic/bt_classic.h
+++ b/esphome/components/esp32_bt_classic/bt_classic.h
@@ -7,12 +7,12 @@
 
 #ifdef USE_ESP32
 
+#include "esphome/components/esp32_bt_common/queue.h"
+
 // IDF headers
 #include <esp_bt_defs.h>
 #include <esp_gap_bt_api.h>
 
-#include "esphome/components/esp32_ble/queue.h"
-
 #include "utils.h"
 
 namespace esphome {
@@ -139,7 +139,7 @@ class ESP32BtClassic : public Component, public BtClassicItf {
   std::vector<BtClassicScanResultListner *> scan_result_listners_;
 
   // Ble-Queue which thread safety precautions:
-  esp32_ble::Queue<BtGapEvent> bt_events_;
+  esp32_bt_common::Queue<BtGapEvent> bt_events_;
 
   const uint32_t scan_delay_{100};  // (ms) minimal time between consecutive scans
 };
diff --git a/esphome/components/esp32_bt_common/__init__.py b/esphome/components/esp32_bt_common/__init__.py
new file mode 100644
index 0000000000..4cced78d5a
--- /dev/null
+++ b/esphome/components/esp32_bt_common/__init__.py
@@ -0,0 +1,6 @@
+import esphome.codegen as cg
+
+DEPENDENCIES = ["esp32"]
+CODEOWNERS = ["@RoboMagus"]
+
+esp32_bt_common_ns = cg.esphome_ns.namespace("esp32_bt_common")
diff --git a/esphome/components/esp32_bt_common/bt_defs.h b/esphome/components/esp32_bt_common/bt_defs.h
new file mode 100644
index 0000000000..85ea75b8e4
--- /dev/null
+++ b/esphome/components/esp32_bt_common/bt_defs.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#ifdef USE_ESP32
+
+#include <esp_bt.h>
+
+// Define the configured BT operation mode:
+#ifdef USE_ARDUINO
+#include <esp32-hal-bt.h>
+#else
+#ifdef CONFIG_BTDM_CONTROLLER_MODE_BTDM
+#define BT_MODE ESP_BT_MODE_BTDM
+#elif defined(CONFIG_BTDM_CONTROLLER_MODE_BR_EDR_ONLY)
+#define BT_MODE ESP_BT_MODE_CLASSIC_BT
+#else
+#define BT_MODE ESP_BT_MODE_BLE
+#endif
+#endif
+
+namespace esphome {
+namespace esp32_bt_common {
+
+}  // namespace esp32_bt_common
+}  // namespace esphome
+
+#endif
diff --git a/esphome/components/esp32_ble/queue.h b/esphome/components/esp32_bt_common/queue.h
similarity index 87%
rename from esphome/components/esp32_ble/queue.h
rename to esphome/components/esp32_bt_common/queue.h
index 5b31b97ae2..7d3ee1456a 100644
--- a/esphome/components/esp32_ble/queue.h
+++ b/esphome/components/esp32_bt_common/queue.h
@@ -9,7 +9,7 @@
 #include <freertos/semphr.h>
 
 /*
- * BLE events come in from a separate Task (thread) in the ESP32 stack. Rather
+ * Bluetooth 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
@@ -17,7 +17,7 @@
  */
 
 namespace esphome {
-namespace esp32_ble {
+namespace esp32_bt_common {
 
 template<class T> class Queue {
  public:
@@ -50,7 +50,7 @@ template<class T> class Queue {
   SemaphoreHandle_t m_;
 };
 
-}  // namespace esp32_ble
+}  // namespace esp32_bt_common
 }  // namespace esphome
 
 #endif
diff --git a/tests/test5.yaml b/tests/test5.yaml
index bf4247fb92..68499381d9 100644
--- a/tests/test5.yaml
+++ b/tests/test5.yaml
@@ -89,6 +89,8 @@ mqtt:
 vbus:
   - uart_id: uart_2
 
+esp32_bt_classic:
+
 binary_sensor:
   - platform: gpio
     pin: GPIO0
@@ -223,6 +225,10 @@ binary_sensor:
         name: VBus Custom Binary Sensor
         lambda: return x[0] & 1;
 
+  - platform: bt_classic_presence
+    name: BT Classic Presence T0
+    mac_address: 1a:2b:3c:4d:5e:6f
+
 tlc5947:
   data_pin:
     number: GPIO12