diff --git a/esphome/components/wifi/wifi_component.cpp b/esphome/components/wifi/wifi_component.cpp
index 5e02307598..0c3a3054f8 100644
--- a/esphome/components/wifi/wifi_component.cpp
+++ b/esphome/components/wifi/wifi_component.cpp
@@ -587,7 +587,7 @@ void WiFiComponent::retry_connect() {
 }
 
 bool WiFiComponent::can_proceed() {
-  if (this->has_ap() && !this->has_sta()) {
+  if (!this->has_sta()) {
     return true;
   }
   return this->is_connected();