diff --git a/esphome/components/uart/uart_component_esp8266.cpp b/esphome/components/uart/uart_component_esp8266.cpp
index b2bf2bacf1..7a453dbb50 100644
--- a/esphome/components/uart/uart_component_esp8266.cpp
+++ b/esphome/components/uart/uart_component_esp8266.cpp
@@ -56,6 +56,13 @@ uint32_t ESP8266UartComponent::get_config() {
 }
 
 void ESP8266UartComponent::setup() {
+  if (this->rx_pin_) {
+    this->rx_pin_->setup();
+  }
+  if (this->tx_pin_ && this->rx_pin_ != this->tx_pin_) {
+    this->tx_pin_->setup();
+  }
+
   // Use Arduino HardwareSerial UARTs if all used pins match the ones
   // preconfigured by the platform. For example if RX disabled but TX pin
   // is 1 we still want to use Serial.
diff --git a/esphome/components/uart/uart_component_esp_idf.cpp b/esphome/components/uart/uart_component_esp_idf.cpp
index 7530856b1e..cffa3308eb 100644
--- a/esphome/components/uart/uart_component_esp_idf.cpp
+++ b/esphome/components/uart/uart_component_esp_idf.cpp
@@ -6,6 +6,9 @@
 #include "esphome/core/defines.h"
 #include "esphome/core/helpers.h"
 #include "esphome/core/log.h"
+#include "esphome/core/gpio.h"
+#include "driver/gpio.h"
+#include "soc/gpio_num.h"
 
 #ifdef USE_LOGGER
 #include "esphome/components/logger/logger.h"
@@ -104,6 +107,13 @@ void IDFUARTComponent::load_settings(bool dump_config) {
     return;
   }
 
+  if (this->rx_pin_) {
+    this->rx_pin_->setup();
+  }
+  if (this->tx_pin_ && this->rx_pin_ != this->tx_pin_) {
+    this->tx_pin_->setup();
+  }
+
   int8_t tx = this->tx_pin_ != nullptr ? this->tx_pin_->get_pin() : -1;
   int8_t rx = this->rx_pin_ != nullptr ? this->rx_pin_->get_pin() : -1;
   int8_t flow_control = this->flow_control_pin_ != nullptr ? this->flow_control_pin_->get_pin() : -1;
diff --git a/esphome/components/uart/uart_component_libretiny.cpp b/esphome/components/uart/uart_component_libretiny.cpp
index 8a7a301cfe..9c065fe5df 100644
--- a/esphome/components/uart/uart_component_libretiny.cpp
+++ b/esphome/components/uart/uart_component_libretiny.cpp
@@ -46,6 +46,13 @@ uint16_t LibreTinyUARTComponent::get_config() {
 }
 
 void LibreTinyUARTComponent::setup() {
+  if (this->rx_pin_) {
+    this->rx_pin_->setup();
+  }
+  if (this->tx_pin_ && this->rx_pin_ != this->tx_pin_) {
+    this->tx_pin_->setup();
+  }
+
   int8_t tx_pin = tx_pin_ == nullptr ? -1 : tx_pin_->get_pin();
   int8_t rx_pin = rx_pin_ == nullptr ? -1 : rx_pin_->get_pin();
   bool tx_inverted = tx_pin_ != nullptr && tx_pin_->is_inverted();
diff --git a/esphome/components/uart/uart_component_rp2040.cpp b/esphome/components/uart/uart_component_rp2040.cpp
index ae3042fb77..c78691653d 100644
--- a/esphome/components/uart/uart_component_rp2040.cpp
+++ b/esphome/components/uart/uart_component_rp2040.cpp
@@ -52,6 +52,13 @@ uint16_t RP2040UartComponent::get_config() {
 }
 
 void RP2040UartComponent::setup() {
+  if (this->rx_pin_) {
+    this->rx_pin_->setup();
+  }
+  if (this->tx_pin_ && this->rx_pin_ != this->tx_pin_) {
+    this->tx_pin_->setup();
+  }
+
   uint16_t config = get_config();
 
   constexpr uint32_t valid_tx_uart_0 = __bitset({0, 12, 16, 28});