diff --git a/esphome/components/esp32_touch/esp32_touch.cpp b/esphome/components/esp32_touch/esp32_touch.cpp
index 2c9d94f5be..15b7d64109 100644
--- a/esphome/components/esp32_touch/esp32_touch.cpp
+++ b/esphome/components/esp32_touch/esp32_touch.cpp
@@ -118,14 +118,6 @@ void ESP32TouchComponent::setup() {
 
   // Enable touch pad interrupt
   touch_pad_intr_enable();
-
-  // Initialize all sensors as not touched
-  // The ISR will immediately update with actual state
-  for (auto *child : this->children_) {
-    // Initialize as not touched
-    child->last_state_ = false;
-    child->publish_initial_state(false);
-  }
 }
 
 void ESP32TouchComponent::dump_config() {
diff --git a/esphome/components/esp32_touch/esp32_touch.h b/esphome/components/esp32_touch/esp32_touch.h
index 218ac26453..22a7db45ca 100644
--- a/esphome/components/esp32_touch/esp32_touch.h
+++ b/esphome/components/esp32_touch/esp32_touch.h
@@ -55,8 +55,6 @@ class ESP32TouchComponent : public Component {
   void set_iir_filter(uint32_t iir_filter) { this->iir_filter_ = iir_filter; }
 #endif
 
-  uint32_t component_touch_pad_read(touch_pad_t tp);
-
   void setup() override;
   void dump_config() override;
   void loop() override;