diff --git a/homeassistant/components/cloud/alexa_config.py b/homeassistant/components/cloud/alexa_config.py
index c7568d7ae25..7394936f355 100644
--- a/homeassistant/components/cloud/alexa_config.py
+++ b/homeassistant/components/cloud/alexa_config.py
@@ -17,7 +17,7 @@ from homeassistant.components.alexa import (
 )
 from homeassistant.const import CLOUD_NEVER_EXPOSED_ENTITIES, HTTP_BAD_REQUEST
 from homeassistant.core import HomeAssistant, callback, split_entity_id
-from homeassistant.helpers import entity_registry
+from homeassistant.helpers import entity_registry, start
 from homeassistant.helpers.event import async_call_later
 from homeassistant.setup import async_setup_component
 from homeassistant.util.dt import utcnow
@@ -107,8 +107,12 @@ class AlexaConfig(alexa_config.AbstractConfig):
 
     async def async_initialize(self):
         """Initialize the Alexa config."""
-        if self.enabled and ALEXA_DOMAIN not in self.hass.config.components:
-            await async_setup_component(self.hass, ALEXA_DOMAIN, {})
+
+        async def hass_started(hass):
+            if self.enabled and ALEXA_DOMAIN not in self.hass.config.components:
+                await async_setup_component(self.hass, ALEXA_DOMAIN, {})
+
+        start.async_at_start(self.hass, hass_started)
 
     def should_expose(self, entity_id):
         """If an entity should be exposed."""
diff --git a/homeassistant/components/cloud/google_config.py b/homeassistant/components/cloud/google_config.py
index 41f62c32c39..65cbe8bb342 100644
--- a/homeassistant/components/cloud/google_config.py
+++ b/homeassistant/components/cloud/google_config.py
@@ -9,7 +9,7 @@ from homeassistant.components.google_assistant.const import DOMAIN as GOOGLE_DOM
 from homeassistant.components.google_assistant.helpers import AbstractConfig
 from homeassistant.const import CLOUD_NEVER_EXPOSED_ENTITIES, HTTP_OK
 from homeassistant.core import CoreState, split_entity_id
-from homeassistant.helpers import entity_registry
+from homeassistant.helpers import entity_registry, start
 from homeassistant.setup import async_setup_component
 
 from .const import (
@@ -86,8 +86,11 @@ class CloudGoogleConfig(AbstractConfig):
         """Perform async initialization of config."""
         await super().async_initialize()
 
-        if self.enabled and GOOGLE_DOMAIN not in self.hass.config.components:
-            await async_setup_component(self.hass, GOOGLE_DOMAIN, {})
+        async def hass_started(hass):
+            if self.enabled and GOOGLE_DOMAIN not in self.hass.config.components:
+                await async_setup_component(self.hass, GOOGLE_DOMAIN, {})
+
+        start.async_at_start(self.hass, hass_started)
 
         # Remove old/wrong user agent ids
         remove_agent_user_ids = []
diff --git a/homeassistant/core.py b/homeassistant/core.py
index 7b5c93b15bb..b9bf97e7e6c 100644
--- a/homeassistant/core.py
+++ b/homeassistant/core.py
@@ -374,7 +374,7 @@ class HomeAssistant:
 
         return task
 
-    def create_task(self, target: Coroutine) -> None:
+    def create_task(self, target: Awaitable) -> None:
         """Add task to the executor pool.
 
         target: target to call.
@@ -382,7 +382,7 @@ class HomeAssistant:
         self.loop.call_soon_threadsafe(self.async_create_task, target)
 
     @callback
-    def async_create_task(self, target: Coroutine) -> asyncio.tasks.Task:
+    def async_create_task(self, target: Awaitable) -> asyncio.tasks.Task:
         """Create a task from within the eventloop.
 
         This method must be run in the event loop.
diff --git a/homeassistant/helpers/start.py b/homeassistant/helpers/start.py
new file mode 100644
index 00000000000..e7e827ec5c3
--- /dev/null
+++ b/homeassistant/helpers/start.py
@@ -0,0 +1,25 @@
+"""Helpers to help during startup."""
+from collections.abc import Awaitable
+from typing import Callable
+
+from homeassistant.const import EVENT_HOMEASSISTANT_START
+from homeassistant.core import Event, HomeAssistant, callback
+
+
+@callback
+def async_at_start(
+    hass: HomeAssistant, at_start_cb: Callable[[HomeAssistant], Awaitable]
+) -> None:
+    """Execute something when Home Assistant is started.
+
+    Will execute it now if Home Assistant is already started.
+    """
+    if hass.is_running:
+        hass.async_create_task(at_start_cb(hass))
+        return
+
+    async def _matched_event(event: Event) -> None:
+        """Call the callback when Home Assistant started."""
+        await at_start_cb(hass)
+
+    hass.bus.async_listen_once(EVENT_HOMEASSISTANT_START, _matched_event)
diff --git a/tests/components/cloud/test_google_config.py b/tests/components/cloud/test_google_config.py
index bc430347e08..64d50250259 100644
--- a/tests/components/cloud/test_google_config.py
+++ b/tests/components/cloud/test_google_config.py
@@ -234,6 +234,7 @@ async def test_setup_integration(hass, mock_conf, cloud_prefs):
     assert "google_assistant" not in hass.config.components
 
     await mock_conf.async_initialize()
+    await hass.async_block_till_done()
     assert "google_assistant" in hass.config.components
 
     hass.config.components.remove("google_assistant")
diff --git a/tests/helpers/test_start.py b/tests/helpers/test_start.py
new file mode 100644
index 00000000000..35838f1ceaa
--- /dev/null
+++ b/tests/helpers/test_start.py
@@ -0,0 +1,39 @@
+"""Test starting HA helpers."""
+from homeassistant import core
+from homeassistant.const import EVENT_HOMEASSISTANT_START
+from homeassistant.helpers import start
+
+
+async def test_at_start_when_running(hass):
+    """Test at start when already running."""
+    assert hass.is_running
+
+    calls = []
+
+    async def cb_at_start(hass):
+        """Home Assistant is started."""
+        calls.append(1)
+
+    start.async_at_start(hass, cb_at_start)
+    await hass.async_block_till_done()
+    assert len(calls) == 1
+
+
+async def test_at_start_when_starting(hass):
+    """Test at start when yet to start."""
+    hass.state = core.CoreState.not_running
+    assert not hass.is_running
+
+    calls = []
+
+    async def cb_at_start(hass):
+        """Home Assistant is started."""
+        calls.append(1)
+
+    start.async_at_start(hass, cb_at_start)
+    await hass.async_block_till_done()
+    assert len(calls) == 0
+
+    hass.bus.async_fire(EVENT_HOMEASSISTANT_START)
+    await hass.async_block_till_done()
+    assert len(calls) == 1