diff --git a/esphome/components/mdns/mdns_component.h b/esphome/components/mdns/mdns_component.h
index 9193aaaf31..fdbe5b11e7 100644
--- a/esphome/components/mdns/mdns_component.h
+++ b/esphome/components/mdns/mdns_component.h
@@ -39,7 +39,7 @@ class MDNSComponent : public Component {
   float get_setup_priority() const override { return setup_priority::AFTER_CONNECTION; }
 
 #ifdef USE_MDNS_EXTRA_SERVICES
-  void add_extra_service(MDNSService service) { this->services_.push_back(std::move(service)); }
+  void add_extra_service(MDNSService service) { this->services_[this->services_.count()++] = std::move(service); }
 #endif
 
   const StaticVector<MDNSService, MDNS_SERVICE_COUNT> &get_services() const { return this->services_; }