diff --git a/esphome/components/dfrobot_sen0395/commands.cpp b/esphome/components/dfrobot_sen0395/commands.cpp
index 2c60fb3449..b0eb297287 100644
--- a/esphome/components/dfrobot_sen0395/commands.cpp
+++ b/esphome/components/dfrobot_sen0395/commands.cpp
@@ -66,13 +66,41 @@ uint8_t ReadStateCommand::execute(DfrobotSen0395Component *parent) {
   this->parent_ = parent;
   if (this->parent_->read_message_()) {
     std::string message(this->parent_->read_buffer_);
-    if (message.rfind("$JYBSS,0, , , *") != std::string::npos) {
-      this->parent_->set_detected_(false);
+    std::vector<std::string> params;
+    size_t pos = 0;
+    std::string token;
+    while ((pos = message.find(",")) != std::string::npos) {
+      token = message.substr(0, pos);
+      params.push_back(token);
+      message.erase(0, pos + 1);
+    }
+    params.push_back(message);
+
+    if (params.size() == 5 && params[0] == "$JYBSS") {
+      this->parent_->set_detected_(params[1] == "1");
+      if (params[1] != "1") {
+        for (int ti = 1; ti <= TARGET_COUNT; ++ti) {
+          this->parent_->set_detected_target_distance_(ti, NAN);
+          this->parent_->set_detected_target_snr_(ti, NAN);
+        }
+      }
       this->parent_->set_active(true);
       return 1;  // Command done
-    } else if (message.rfind("$JYBSS,1, , , *") != std::string::npos) {
-      this->parent_->set_detected_(true);
-      this->parent_->set_active(true);
+    } else if (params.size() == 8 && params[0] == "$JYRPO") {
+      const auto target_count = std::atoi(params[1].c_str());
+      const auto target = std::atoi(params[2].c_str());
+      const auto dist = std::atof(params[3].c_str());
+      const auto snr = std::atof(params[5].c_str());
+      this->parent_->set_detected_target_distance_(target, dist);
+      this->parent_->set_detected_target_snr_(target, snr);
+
+      if (target == target_count) {
+        for (int ti = target + 1; ti <= TARGET_COUNT; ++ti) {
+          this->parent_->set_detected_target_distance_(ti, NAN);
+          this->parent_->set_detected_target_snr_(ti, NAN);
+        }
+      }
+
       return 1;  // Command done
     }
   }