diff --git a/esphome/components/thermostat/thermostat_climate.cpp b/esphome/components/thermostat/thermostat_climate.cpp
index 40a29295f1..26be6ba53a 100644
--- a/esphome/components/thermostat/thermostat_climate.cpp
+++ b/esphome/components/thermostat/thermostat_climate.cpp
@@ -1,6 +1,5 @@
 #include "thermostat_climate.h"
 #include "esphome/core/log.h"
-#include <cinttypes>
 
 namespace esphome {
 namespace thermostat {
@@ -63,6 +62,15 @@ void ThermostatClimate::setup() {
   this->publish_state();
 }
 
+void ThermostatClimate::loop() {
+  for (auto &timer : this->timer_) {
+    if (timer.active && (timer.started + timer.time < millis())) {
+      timer.active = false;
+      timer.func();
+    }
+  }
+}
+
 float ThermostatClimate::cool_deadband() { return this->cooling_deadband_; }
 float ThermostatClimate::cool_overrun() { return this->cooling_overrun_; }
 float ThermostatClimate::heat_deadband() { return this->heating_deadband_; }
@@ -439,6 +447,7 @@ void ThermostatClimate::switch_to_action_(climate::ClimateAction action, bool pu
           this->start_timer_(thermostat::TIMER_FANNING_ON);
           trig_fan = this->fan_only_action_trigger_;
         }
+        this->cooling_max_runtime_exceeded_ = false;
         trig = this->cool_action_trigger_;
         ESP_LOGVV(TAG, "Switching to COOLING action");
         action_ready = true;
@@ -452,6 +461,7 @@ void ThermostatClimate::switch_to_action_(climate::ClimateAction action, bool pu
           this->start_timer_(thermostat::TIMER_FANNING_ON);
           trig_fan = this->fan_only_action_trigger_;
         }
+        this->heating_max_runtime_exceeded_ = false;
         trig = this->heat_action_trigger_;
         ESP_LOGVV(TAG, "Switching to HEATING action");
         action_ready = true;
@@ -752,15 +762,15 @@ bool ThermostatClimate::heating_action_ready_() {
 
 void ThermostatClimate::start_timer_(const ThermostatClimateTimerIndex timer_index) {
   if (this->timer_duration_(timer_index) > 0) {
-    this->set_timeout(this->timer_[timer_index].name, this->timer_duration_(timer_index),
-                      this->timer_cbf_(timer_index));
+    this->timer_[timer_index].started = millis();
     this->timer_[timer_index].active = true;
   }
 }
 
 bool ThermostatClimate::cancel_timer_(ThermostatClimateTimerIndex timer_index) {
+  auto ret = this->timer_[timer_index].active;
   this->timer_[timer_index].active = false;
-  return this->cancel_timeout(this->timer_[timer_index].name);
+  return ret;
 }
 
 bool ThermostatClimate::timer_active_(ThermostatClimateTimerIndex timer_index) {
@@ -777,7 +787,6 @@ std::function<void()> ThermostatClimate::timer_cbf_(ThermostatClimateTimerIndex
 
 void ThermostatClimate::cooling_max_run_time_timer_callback_() {
   ESP_LOGVV(TAG, "cooling_max_run_time timer expired");
-  this->timer_[thermostat::TIMER_COOLING_MAX_RUN_TIME].active = false;
   this->cooling_max_runtime_exceeded_ = true;
   this->trigger_supplemental_action_();
   this->switch_to_supplemental_action_(this->compute_supplemental_action_());
@@ -785,21 +794,18 @@ void ThermostatClimate::cooling_max_run_time_timer_callback_() {
 
 void ThermostatClimate::cooling_off_timer_callback_() {
   ESP_LOGVV(TAG, "cooling_off timer expired");
-  this->timer_[thermostat::TIMER_COOLING_OFF].active = false;
   this->switch_to_action_(this->compute_action_());
   this->switch_to_supplemental_action_(this->compute_supplemental_action_());
 }
 
 void ThermostatClimate::cooling_on_timer_callback_() {
   ESP_LOGVV(TAG, "cooling_on timer expired");
-  this->timer_[thermostat::TIMER_COOLING_ON].active = false;
   this->switch_to_action_(this->compute_action_());
   this->switch_to_supplemental_action_(this->compute_supplemental_action_());
 }
 
 void ThermostatClimate::fan_mode_timer_callback_() {
   ESP_LOGVV(TAG, "fan_mode timer expired");
-  this->timer_[thermostat::TIMER_FAN_MODE].active = false;
   this->switch_to_fan_mode_(this->fan_mode.value_or(climate::CLIMATE_FAN_ON));
   if (this->supports_fan_only_action_uses_fan_mode_timer_)
     this->switch_to_action_(this->compute_action_());
@@ -807,19 +813,16 @@ void ThermostatClimate::fan_mode_timer_callback_() {
 
 void ThermostatClimate::fanning_off_timer_callback_() {
   ESP_LOGVV(TAG, "fanning_off timer expired");
-  this->timer_[thermostat::TIMER_FANNING_OFF].active = false;
   this->switch_to_action_(this->compute_action_());
 }
 
 void ThermostatClimate::fanning_on_timer_callback_() {
   ESP_LOGVV(TAG, "fanning_on timer expired");
-  this->timer_[thermostat::TIMER_FANNING_ON].active = false;
   this->switch_to_action_(this->compute_action_());
 }
 
 void ThermostatClimate::heating_max_run_time_timer_callback_() {
   ESP_LOGVV(TAG, "heating_max_run_time timer expired");
-  this->timer_[thermostat::TIMER_HEATING_MAX_RUN_TIME].active = false;
   this->heating_max_runtime_exceeded_ = true;
   this->trigger_supplemental_action_();
   this->switch_to_supplemental_action_(this->compute_supplemental_action_());
@@ -827,21 +830,18 @@ void ThermostatClimate::heating_max_run_time_timer_callback_() {
 
 void ThermostatClimate::heating_off_timer_callback_() {
   ESP_LOGVV(TAG, "heating_off timer expired");
-  this->timer_[thermostat::TIMER_HEATING_OFF].active = false;
   this->switch_to_action_(this->compute_action_());
   this->switch_to_supplemental_action_(this->compute_supplemental_action_());
 }
 
 void ThermostatClimate::heating_on_timer_callback_() {
   ESP_LOGVV(TAG, "heating_on timer expired");
-  this->timer_[thermostat::TIMER_HEATING_ON].active = false;
   this->switch_to_action_(this->compute_action_());
   this->switch_to_supplemental_action_(this->compute_supplemental_action_());
 }
 
 void ThermostatClimate::idle_on_timer_callback_() {
   ESP_LOGVV(TAG, "idle_on timer expired");
-  this->timer_[thermostat::TIMER_IDLE_ON].active = false;
   this->switch_to_action_(this->compute_action_());
   this->switch_to_supplemental_action_(this->compute_supplemental_action_());
 }
diff --git a/esphome/components/thermostat/thermostat_climate.h b/esphome/components/thermostat/thermostat_climate.h
index 559812a94f..50510cf070 100644
--- a/esphome/components/thermostat/thermostat_climate.h
+++ b/esphome/components/thermostat/thermostat_climate.h
@@ -1,10 +1,12 @@
 #pragma once
 
-#include "esphome/core/component.h"
 #include "esphome/core/automation.h"
+#include "esphome/core/component.h"
+#include "esphome/core/hal.h"
 #include "esphome/components/climate/climate.h"
 #include "esphome/components/sensor/sensor.h"
 
+#include <cinttypes>
 #include <map>
 #include <vector>
 
@@ -26,9 +28,9 @@ enum ThermostatClimateTimerIndex : size_t {
 
 enum OnBootRestoreFrom : size_t { MEMORY = 0, DEFAULT_PRESET = 1 };
 struct ThermostatClimateTimer {
-  const std::string name;
   bool active;
   uint32_t time;
+  uint32_t started;
   std::function<void()> func;
 };
 
@@ -59,6 +61,7 @@ class ThermostatClimate : public climate::Climate, public Component {
   ThermostatClimate();
   void setup() override;
   void dump_config() override;
+  void loop() override;
 
   void set_default_preset(const std::string &custom_preset);
   void set_default_preset(climate::ClimatePreset preset);
@@ -441,16 +444,17 @@ class ThermostatClimate : public climate::Climate, public Component {
 
   /// Climate action timers
   std::vector<ThermostatClimateTimer> timer_{
-      {"cool_run", false, 0, std::bind(&ThermostatClimate::cooling_max_run_time_timer_callback_, this)},
-      {"cool_off", false, 0, std::bind(&ThermostatClimate::cooling_off_timer_callback_, this)},
-      {"cool_on", false, 0, std::bind(&ThermostatClimate::cooling_on_timer_callback_, this)},
-      {"fan_mode", false, 0, std::bind(&ThermostatClimate::fan_mode_timer_callback_, this)},
-      {"fan_off", false, 0, std::bind(&ThermostatClimate::fanning_off_timer_callback_, this)},
-      {"fan_on", false, 0, std::bind(&ThermostatClimate::fanning_on_timer_callback_, this)},
-      {"heat_run", false, 0, std::bind(&ThermostatClimate::heating_max_run_time_timer_callback_, this)},
-      {"heat_off", false, 0, std::bind(&ThermostatClimate::heating_off_timer_callback_, this)},
-      {"heat_on", false, 0, std::bind(&ThermostatClimate::heating_on_timer_callback_, this)},
-      {"idle_on", false, 0, std::bind(&ThermostatClimate::idle_on_timer_callback_, this)}};
+      {false, 0, 0, std::bind(&ThermostatClimate::cooling_max_run_time_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::cooling_off_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::cooling_on_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::fan_mode_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::fanning_off_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::fanning_on_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::heating_max_run_time_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::heating_off_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::heating_on_timer_callback_, this)},
+      {false, 0, 0, std::bind(&ThermostatClimate::idle_on_timer_callback_, this)},
+  };
 
   /// The set of standard preset configurations this thermostat supports (Eg. AWAY, ECO, etc)
   std::map<climate::ClimatePreset, ThermostatClimateTargetTempConfig> preset_config_{};