diff --git a/esphome/components/mitsubishi_uart/mitsubishi_uart-climatecall.cpp b/esphome/components/mitsubishi_uart/mitsubishi_uart-climatecall.cpp
index fc1527ea4e6a..b6e911d875b8 100644
--- a/esphome/components/mitsubishi_uart/mitsubishi_uart-climatecall.cpp
+++ b/esphome/components/mitsubishi_uart/mitsubishi_uart-climatecall.cpp
@@ -79,16 +79,23 @@ void MitsubishiUART::control(const climate::ClimateCall &call) {
     target_temperature = call.get_target_temperature().value();
     set_request_packet.set_target_temperature(call.get_target_temperature().value());
 
-    // FIXME: (Do not merge while this is present!)
-    // HACK: Sync temperature to the appropriate state
+    // update our MHK tracking setpoints accordingly
     switch (mode) {
-      case climate::CLIMATE_MODE_HEAT:
-        target_temperature_low = target_temperature;
-        break;
       case climate::CLIMATE_MODE_COOL:
       case climate::CLIMATE_MODE_DRY:
-        target_temperature_high = target_temperature;
+        this->last_cool_setpoint_ = target_temperature;
         break;
+      case climate::CLIMATE_MODE_HEAT:
+        this->last_heat_setpoint_ = target_temperature;
+        break;
+      case climate::CLIMATE_MODE_HEAT_COOL:
+        if (this->get_traits().get_supports_two_point_target_temperature()) {
+          this->last_heat_setpoint_ = target_temperature_low;
+          this->last_cool_setpoint_ = target_temperature_high;
+        } else {
+          // this->last_heat_setpoint_ = target_temperature;
+          // this->last_cool_setpoint_ = target_temperature;
+        }
       default:
         break;
     }
diff --git a/esphome/components/mitsubishi_uart/mitsubishi_uart-packetprocessing.cpp b/esphome/components/mitsubishi_uart/mitsubishi_uart-packetprocessing.cpp
index 340bff611c75..ed59e0aab4a1 100644
--- a/esphome/components/mitsubishi_uart/mitsubishi_uart-packetprocessing.cpp
+++ b/esphome/components/mitsubishi_uart/mitsubishi_uart-packetprocessing.cpp
@@ -118,6 +118,18 @@ void MitsubishiUART::process_packet(const SettingsGetResponsePacket &packet) {
   target_temperature = packet.get_target_temp();
   publish_on_update_ |= (old_target_temperature != target_temperature);
 
+  switch (mode) {
+    case climate::CLIMATE_MODE_COOL:
+    case climate::CLIMATE_MODE_DRY:
+      this->last_cool_setpoint_ = target_temperature;
+      break;
+    case climate::CLIMATE_MODE_HEAT:
+      this->last_heat_setpoint_ = target_temperature;
+      break;
+    default:
+      break;
+  }
+
   // Fan
   static bool fan_changed = false;
   switch (packet.get_fan()) {
@@ -390,8 +402,8 @@ void MitsubishiUART::process_packet(const KumoThermostatHelloPacket &packet) {
 void MitsubishiUART::process_packet(const KumoThermostatStateSyncPacket &packet) {
   ESP_LOGV(TAG, "Processing inbound %s", packet.to_string().c_str());
 
-  if (packet.get_flags() & 0x08) this->target_temperature_low = packet.get_heat_setpoint();
-  if (packet.get_flags() & 0x10) this->target_temperature_high = packet.get_cool_setpoint();
+  if (packet.get_flags() & 0x08) this->last_heat_setpoint_ = packet.get_heat_setpoint();
+  if (packet.get_flags() & 0x10) this->last_cool_setpoint_ = packet.get_cool_setpoint();
 
   ts_bridge_->send_packet(SetResponsePacket());
 }
@@ -412,8 +424,8 @@ void MitsubishiUART::process_packet(const SetResponsePacket &packet) {
 void MitsubishiUART::handle_kumo_adapter_state_get_request(const GetRequestPacket &packet) {
   auto response = KumoCloudStateSyncPacket();
 
-  response.set_heat_setpoint(this->target_temperature_low);
-  response.set_cool_setpoint(this->target_temperature_high);
+  response.set_heat_setpoint(this->last_heat_setpoint_);
+  response.set_cool_setpoint(this->last_cool_setpoint_);
 
   if (this->time_source != nullptr) {
     response.set_timestamp(this->time_source->now());
diff --git a/esphome/components/mitsubishi_uart/mitsubishi_uart.h b/esphome/components/mitsubishi_uart/mitsubishi_uart.h
index 993854260f20..6c34d46910fe 100644
--- a/esphome/components/mitsubishi_uart/mitsubishi_uart.h
+++ b/esphome/components/mitsubishi_uart/mitsubishi_uart.h
@@ -194,6 +194,9 @@ class MitsubishiUART : public PollingComponent, public climate::Climate, public
 
   void send_if_active_(const Packet &packet);
   bool active_mode_ = true;
+
+  float last_cool_setpoint_ = NAN;
+  float last_heat_setpoint_ = NAN;
 };
 
 struct MUARTPreferences {