diff --git a/homeassistant/components/homekit_controller/__init__.py b/homeassistant/components/homekit_controller/__init__.py
index 1043164c801..e3ff4d47fcf 100644
--- a/homeassistant/components/homekit_controller/__init__.py
+++ b/homeassistant/components/homekit_controller/__init__.py
@@ -6,6 +6,11 @@ import contextlib
 import logging
 
 import aiohomekit
+from aiohomekit.const import (
+    BLE_TRANSPORT_SUPPORTED,
+    COAP_TRANSPORT_SUPPORTED,
+    IP_TRANSPORT_SUPPORTED,
+)
 from aiohomekit.exceptions import (
     AccessoryDisconnectedError,
     AccessoryNotFoundError,
@@ -24,6 +29,15 @@ from .connection import HKDevice
 from .const import DOMAIN, KNOWN_DEVICES
 from .utils import async_get_controller
 
+# Ensure all the controllers get imported in the executor
+# since they are loaded late.
+if BLE_TRANSPORT_SUPPORTED:
+    from aiohomekit.controller import ble  # noqa: F401
+if COAP_TRANSPORT_SUPPORTED:
+    from aiohomekit.controller import coap  # noqa: F401
+if IP_TRANSPORT_SUPPORTED:
+    from aiohomekit.controller import ip  # noqa: F401
+
 _LOGGER = logging.getLogger(__name__)
 
 CONFIG_SCHEMA = cv.config_entry_only_config_schema(DOMAIN)