diff --git a/esphome/components/esp32_ble/ble.cpp b/esphome/components/esp32_ble/ble.cpp
index a0ed9ee90..a279f7d2a 100644
--- a/esphome/components/esp32_ble/ble.cpp
+++ b/esphome/components/esp32_ble/ble.cpp
@@ -308,13 +308,21 @@ bool ESP32BLE::ble_setup_() {
 bool ESP32BLE::ble_dismantle_() {
   esp_err_t err = esp_bluedroid_disable();
   if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_bluedroid_disable failed: %d", err);
-    return false;
+    // ESP_ERR_INVALID_STATE means Bluedroid is already disabled, which is fine
+    if (err != ESP_ERR_INVALID_STATE) {
+      ESP_LOGE(TAG, "esp_bluedroid_disable failed: %d", err);
+      return false;
+    }
+    ESP_LOGD(TAG, "Already disabled");
   }
   err = esp_bluedroid_deinit();
   if (err != ESP_OK) {
-    ESP_LOGE(TAG, "esp_bluedroid_deinit failed: %d", err);
-    return false;
+    // ESP_ERR_INVALID_STATE means Bluedroid is already deinitialized, which is fine
+    if (err != ESP_ERR_INVALID_STATE) {
+      ESP_LOGE(TAG, "esp_bluedroid_deinit failed: %d", err);
+      return false;
+    }
+    ESP_LOGD(TAG, "Already deinitialized");
   }
 
 #ifndef CONFIG_ESP_HOSTED_ENABLE_BT_BLUEDROID
diff --git a/esphome/components/esp32_ble/ble.h b/esphome/components/esp32_ble/ble.h
index 393ec2e91..1999c870f 100644
--- a/esphome/components/esp32_ble/ble.h
+++ b/esphome/components/esp32_ble/ble.h
@@ -212,17 +212,23 @@ extern ESP32BLE *global_ble;
 
 template<typename... Ts> class BLEEnabledCondition : public Condition<Ts...> {
  public:
-  bool check(const Ts &...x) override { return global_ble->is_active(); }
+  bool check(const Ts &...x) override { return global_ble != nullptr && global_ble->is_active(); }
 };
 
 template<typename... Ts> class BLEEnableAction : public Action<Ts...> {
  public:
-  void play(const Ts &...x) override { global_ble->enable(); }
+  void play(const Ts &...x) override {
+    if (global_ble != nullptr)
+      global_ble->enable();
+  }
 };
 
 template<typename... Ts> class BLEDisableAction : public Action<Ts...> {
  public:
-  void play(const Ts &...x) override { global_ble->disable(); }
+  void play(const Ts &...x) override {
+    if (global_ble != nullptr)
+      global_ble->disable();
+  }
 };
 
 }  // namespace esphome::esp32_ble
diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index d3c5edfb9..45e343c0d 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -185,7 +185,10 @@ void ESP32BLETracker::ble_before_disabled_event_handler() { this->stop_scan_();
 
 void ESP32BLETracker::stop_scan_() {
   if (this->scanner_state_ != ScannerState::RUNNING && this->scanner_state_ != ScannerState::FAILED) {
-    ESP_LOGE(TAG, "Cannot stop scan: %s", this->scanner_state_to_string_(this->scanner_state_));
+    // If scanner is already idle, there's nothing to stop - this is not an error
+    if (this->scanner_state_ != ScannerState::IDLE) {
+      ESP_LOGE(TAG, "Cannot stop scan: %s", this->scanner_state_to_string_(this->scanner_state_));
+    }
     return;
   }
   // Reset timeout state machine when stopping scan