diff --git a/homeassistant/components/esphome/bluetooth/client.py b/homeassistant/components/esphome/bluetooth/client.py
index 5f20a73f4d6..72531a2503a 100644
--- a/homeassistant/components/esphome/bluetooth/client.py
+++ b/homeassistant/components/esphome/bluetooth/client.py
@@ -7,7 +7,11 @@ import logging
 from typing import Any, TypeVar, cast
 import uuid
 
-from aioesphomeapi import ESP_CONNECTION_ERROR_DESCRIPTION, BLEConnectionError
+from aioesphomeapi import (
+    ESP_CONNECTION_ERROR_DESCRIPTION,
+    ESPHOME_GATT_ERRORS,
+    BLEConnectionError,
+)
 from aioesphomeapi.connection import APIConnectionError, TimeoutAPIError
 import async_timeout
 from bleak.backends.characteristic import BleakGATTCharacteristic
@@ -207,7 +211,9 @@ class ESPHomeClient(BaseBleakClient):
                     human_error = ESP_CONNECTION_ERROR_DESCRIPTION[ble_connection_error]
                 except (KeyError, ValueError):
                     ble_connection_error_name = str(error)
-                    human_error = f"Unknown error code {error}"
+                    human_error = ESPHOME_GATT_ERRORS.get(
+                        error, f"Unknown error code {error}"
+                    )
                 connected_future.set_exception(
                     BleakError(
                         f"Error {ble_connection_error_name} while connecting: {human_error}"
diff --git a/homeassistant/components/esphome/manifest.json b/homeassistant/components/esphome/manifest.json
index c27e3b8dc3e..64cd6b4029c 100644
--- a/homeassistant/components/esphome/manifest.json
+++ b/homeassistant/components/esphome/manifest.json
@@ -3,7 +3,7 @@
   "name": "ESPHome",
   "config_flow": true,
   "documentation": "https://www.home-assistant.io/integrations/esphome",
-  "requirements": ["aioesphomeapi==11.4.1"],
+  "requirements": ["aioesphomeapi==11.4.2"],
   "zeroconf": ["_esphomelib._tcp.local."],
   "dhcp": [{ "registered_devices": true }],
   "codeowners": ["@OttoWinter", "@jesserockz"],
diff --git a/requirements_all.txt b/requirements_all.txt
index 5fb9331bd29..be619a1239c 100644
--- a/requirements_all.txt
+++ b/requirements_all.txt
@@ -153,7 +153,7 @@ aioecowitt==2022.09.3
 aioemonitor==1.0.5
 
 # homeassistant.components.esphome
-aioesphomeapi==11.4.1
+aioesphomeapi==11.4.2
 
 # homeassistant.components.flo
 aioflo==2021.11.0
diff --git a/requirements_test_all.txt b/requirements_test_all.txt
index ca71daa39be..73be12c5fea 100644
--- a/requirements_test_all.txt
+++ b/requirements_test_all.txt
@@ -140,7 +140,7 @@ aioecowitt==2022.09.3
 aioemonitor==1.0.5
 
 # homeassistant.components.esphome
-aioesphomeapi==11.4.1
+aioesphomeapi==11.4.2
 
 # homeassistant.components.flo
 aioflo==2021.11.0