diff --git a/esphome/components/cover/cover.cpp b/esphome/components/cover/cover.cpp
index 3378279371..654bb956a5 100644
--- a/esphome/components/cover/cover.cpp
+++ b/esphome/components/cover/cover.cpp
@@ -1,6 +1,6 @@
 #include "cover.h"
-#include "esphome/core/log.h"
 #include <strings.h>
+#include "esphome/core/log.h"
 
 namespace esphome {
 namespace cover {
@@ -144,21 +144,7 @@ CoverCall &CoverCall::set_stop(bool stop) {
 bool CoverCall::get_stop() const { return this->stop_; }
 
 CoverCall Cover::make_call() { return {this}; }
-void Cover::open() {
-  auto call = this->make_call();
-  call.set_command_open();
-  call.perform();
-}
-void Cover::close() {
-  auto call = this->make_call();
-  call.set_command_close();
-  call.perform();
-}
-void Cover::stop() {
-  auto call = this->make_call();
-  call.set_command_stop();
-  call.perform();
-}
+
 void Cover::add_on_state_callback(std::function<void()> &&f) { this->state_callback_.add(std::move(f)); }
 void Cover::publish_state(bool save) {
   this->position = clamp(this->position, 0.0f, 1.0f);
diff --git a/esphome/components/cover/cover.h b/esphome/components/cover/cover.h
index ada5953d57..d5db6cfb4f 100644
--- a/esphome/components/cover/cover.h
+++ b/esphome/components/cover/cover.h
@@ -4,6 +4,7 @@
 #include "esphome/core/entity_base.h"
 #include "esphome/core/helpers.h"
 #include "esphome/core/preferences.h"
+
 #include "cover_traits.h"
 
 namespace esphome {
@@ -125,25 +126,6 @@ class Cover : public EntityBase, public EntityBase_DeviceClass {
 
   /// Construct a new cover call used to control the cover.
   CoverCall make_call();
-  /** Open the cover.
-   *
-   * This is a legacy method and may be removed later, please use `.make_call()` instead.
-   */
-  ESPDEPRECATED("open() is deprecated, use make_call().set_command_open().perform() instead.", "2021.9")
-  void open();
-  /** Close the cover.
-   *
-   * This is a legacy method and may be removed later, please use `.make_call()` instead.
-   */
-  ESPDEPRECATED("close() is deprecated, use make_call().set_command_close().perform() instead.", "2021.9")
-  void close();
-  /** Stop the cover.
-   *
-   * This is a legacy method and may be removed later, please use `.make_call()` instead.
-   * As per solution from issue #2885 the call should include perform()
-   */
-  ESPDEPRECATED("stop() is deprecated, use make_call().set_command_stop().perform() instead.", "2021.9")
-  void stop();
 
   void add_on_state_callback(std::function<void()> &&f);