diff --git a/esphome/components/mcp23008/mcp23008.cpp b/esphome/components/mcp23008/mcp23008.cpp
index 351360fe1c..24b9a63f48 100644
--- a/esphome/components/mcp23008/mcp23008.cpp
+++ b/esphome/components/mcp23008/mcp23008.cpp
@@ -14,6 +14,9 @@ void MCP23008::setup() {
     return;
   }
 
+  // Read current output register state
+  this->read_reg(mcp23x08_base::MCP23X08_OLAT, &this->olat_);
+
   if (this->open_drain_ints_) {
     // enable open-drain interrupt pins, 3.3V-safe
     this->write_reg(mcp23x08_base::MCP23X08_IOCON, 0x04);
diff --git a/esphome/components/mcp23016/mcp23016.cpp b/esphome/components/mcp23016/mcp23016.cpp
index 9787da6faa..70df0dfb7b 100644
--- a/esphome/components/mcp23016/mcp23016.cpp
+++ b/esphome/components/mcp23016/mcp23016.cpp
@@ -15,6 +15,10 @@ void MCP23016::setup() {
     return;
   }
 
+  // Read current output register state
+  this->read_reg_(MCP23016_OLAT0, &this->olat_0_);
+  this->read_reg_(MCP23016_OLAT1, &this->olat_1_);
+
   // all pins input
   this->write_reg_(MCP23016_IODIR0, 0xFF);
   this->write_reg_(MCP23016_IODIR1, 0xFF);
diff --git a/esphome/components/mcp23017/mcp23017.cpp b/esphome/components/mcp23017/mcp23017.cpp
index 7344f482e0..b82e750eaf 100644
--- a/esphome/components/mcp23017/mcp23017.cpp
+++ b/esphome/components/mcp23017/mcp23017.cpp
@@ -14,6 +14,10 @@ void MCP23017::setup() {
     return;
   }
 
+  // Read current output register state
+  this->read_reg(mcp23x17_base::MCP23X17_OLATA, &this->olat_a_);
+  this->read_reg(mcp23x17_base::MCP23X17_OLATB, &this->olat_b_);
+
   if (this->open_drain_ints_) {
     // enable open-drain interrupt pins, 3.3V-safe
     this->write_reg(mcp23x17_base::MCP23X17_IOCONA, 0x04);
diff --git a/esphome/components/mcp23s08/mcp23s08.cpp b/esphome/components/mcp23s08/mcp23s08.cpp
index af834b4c40..2f885743de 100644
--- a/esphome/components/mcp23s08/mcp23s08.cpp
+++ b/esphome/components/mcp23s08/mcp23s08.cpp
@@ -23,6 +23,9 @@ void MCP23S08::setup() {
   this->transfer_byte(0b00011000);  // Enable HAEN pins for addressing
   this->disable();
 
+  // Read current output register state
+  this->read_reg(mcp23x08_base::MCP23X08_OLAT, &this->olat_);
+
   if (this->open_drain_ints_) {
     // enable open-drain interrupt pins, 3.3V-safe
     this->write_reg(mcp23x08_base::MCP23X08_IOCON, 0x04);
diff --git a/esphome/components/mcp23s17/mcp23s17.cpp b/esphome/components/mcp23s17/mcp23s17.cpp
index 8e3d5213f8..2fc9c74634 100644
--- a/esphome/components/mcp23s17/mcp23s17.cpp
+++ b/esphome/components/mcp23s17/mcp23s17.cpp
@@ -23,6 +23,10 @@ void MCP23S17::setup() {
   this->transfer_byte(0b00011000);  // Enable HAEN pins for addressing
   this->disable();
 
+  // Read current output register state
+  this->read_reg(mcp23x17_base::MCP23X17_OLATA, &this->olat_a_);
+  this->read_reg(mcp23x17_base::MCP23X17_OLATB, &this->olat_b_);
+
   if (this->open_drain_ints_) {
     // enable open-drain interrupt pins, 3.3V-safe
     this->write_reg(mcp23x17_base::MCP23X17_IOCONA, 0x04);