diff --git a/esphome/components/sensor/__init__.py b/esphome/components/sensor/__init__.py
index 11a6e5e173..605f72a103 100644
--- a/esphome/components/sensor/__init__.py
+++ b/esphome/components/sensor/__init__.py
@@ -259,7 +259,7 @@ def setup_sensor_core_(var, config):
     if CONF_ACCURACY_DECIMALS in config:
         cg.add(var.set_accuracy_decimals(config[CONF_ACCURACY_DECIMALS]))
     cg.add(var.set_force_update(config[CONF_FORCE_UPDATE]))
-    if CONF_FILTERS in config:
+    if config.get(CONF_FILTERS):  # must exist and not be empty
         filters = yield build_filters(config[CONF_FILTERS])
         cg.add(var.set_filters(filters))
 
diff --git a/esphome/core/scheduler.cpp b/esphome/core/scheduler.cpp
index 3df886cb5b..88054147f8 100644
--- a/esphome/core/scheduler.cpp
+++ b/esphome/core/scheduler.cpp
@@ -57,7 +57,7 @@ void HOT Scheduler::set_interval(Component *component, const std::string &name,
   item->name = name;
   item->type = SchedulerItem::INTERVAL;
   item->interval = interval;
-  item->last_execution = now - offset;
+  item->last_execution = now - offset - interval;
   item->last_execution_major = this->millis_major_;
   if (item->last_execution > now)
     item->last_execution_major--;
@@ -106,7 +106,7 @@ void ICACHE_RAM_ATTR HOT Scheduler::call() {
       // Not reached timeout yet, done for this call
       break;
     uint8_t major = item->last_execution_major;
-    if (item->last_execution + item->interval < item->last_execution)
+    if (item->last_execution > now)
       major++;
     if (major != this->millis_major_)
       break;