diff --git a/esphome/components/pid/pid_climate.cpp b/esphome/components/pid/pid_climate.cpp
index ef8a4df962..4c7d92e26d 100644
--- a/esphome/components/pid/pid_climate.cpp
+++ b/esphome/components/pid/pid_climate.cpp
@@ -37,7 +37,7 @@ void PIDClimate::control(const climate::ClimateCall &call) {
 
   // If switching to off mode, set output immediately
   if (this->mode == climate::CLIMATE_MODE_OFF)
-    this->handle_non_auto_mode_();
+    this->write_output_(0.0f);
 
   this->publish_state();
 }
@@ -98,15 +98,6 @@ void PIDClimate::write_output_(float value) {
   }
   this->pid_computed_callback_.call();
 }
-void PIDClimate::handle_non_auto_mode_() {
-  // in non-auto mode, switch directly to appropriate action
-  //  - OFF mode -> Output at 0%
-  if (this->mode == climate::CLIMATE_MODE_OFF) {
-    this->write_output_(0.0);
-  } else {
-    assert(false);
-  }
-}
 void PIDClimate::update_pid_() {
   float value;
   if (isnan(this->current_temperature) || isnan(this->target_temperature)) {
@@ -135,7 +126,7 @@ void PIDClimate::update_pid_() {
   }
 
   if (this->mode == climate::CLIMATE_MODE_OFF) {
-    this->handle_non_auto_mode_();
+    this->write_output_(0.0);
   } else {
     this->write_output_(value);
   }
diff --git a/esphome/components/pid/pid_climate.h b/esphome/components/pid/pid_climate.h
index f11d768867..ff301386b6 100644
--- a/esphome/components/pid/pid_climate.h
+++ b/esphome/components/pid/pid_climate.h
@@ -56,7 +56,6 @@ class PIDClimate : public climate::Climate, public Component {
   bool supports_heat_() const { return this->heat_output_ != nullptr; }
 
   void write_output_(float value);
-  void handle_non_auto_mode_();
 
   /// The sensor used for getting the current temperature
   sensor::Sensor *sensor_;