diff --git a/homeassistant/components/esphome/manager.py b/homeassistant/components/esphome/manager.py
index ef2a6862f10..4b4537d147f 100644
--- a/homeassistant/components/esphome/manager.py
+++ b/homeassistant/components/esphome/manager.py
@@ -346,7 +346,7 @@ class ESPHomeManager:
     ) -> int | None:
         """Start a voice assistant pipeline."""
         if self.voice_assistant_pipeline is not None:
-            _LOGGER.warning("Voice assistant UDP server was not stopped")
+            _LOGGER.warning("Previous Voice assistant pipeline was not stopped")
             self.voice_assistant_pipeline.stop()
             self.voice_assistant_pipeline = None
 
diff --git a/tests/components/esphome/test_manager.py b/tests/components/esphome/test_manager.py
index 651c52cd083..9d2a906466e 100644
--- a/tests/components/esphome/test_manager.py
+++ b/tests/components/esphome/test_manager.py
@@ -1229,7 +1229,7 @@ async def test_manager_voice_assistant_handlers_api(
             "", 0, None, None
         )
 
-        assert "Voice assistant UDP server was not stopped" in caplog.text
+        assert "Previous Voice assistant pipeline was not stopped" in caplog.text
 
     await device.mock_voice_assistant_handle_audio(bytes(_ONE_SECOND))