diff --git a/arch/risc-v/src/common/espressif/Kconfig b/arch/risc-v/src/common/espressif/Kconfig
index 844fd197ee..8cd5f6f4d2 100644
--- a/arch/risc-v/src/common/espressif/Kconfig
+++ b/arch/risc-v/src/common/espressif/Kconfig
@@ -441,40 +441,6 @@ config ESPRESSIF_LP_I2C0
 	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
 	select I2C
 
-choice ESPRESSIF_I2C0_MODE
-	prompt "I2C0 Mode"
-	depends on ESPRESSIF_I2C0
-	default ESPRESSIF_I2C0_MASTER_MODE
-
-config ESPRESSIF_I2C0_MASTER_MODE
-	bool "I2C0 Master Mode"
-	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
-
-config ESPRESSIF_I2C0_SLAVE_MODE
-	bool "I2C0 Slave Mode"
-	select I2C_SLAVE
-	select I2C_SLAVE_DRIVER
-	select ESPRESSIF_I2C_PERIPH_SLAVE_MODE
-
-endchoice # ESPRESSIF_I2C0_MODE
-
-choice ESPRESSIF_I2C1_MODE
-	prompt "I2C1 Mode"
-	depends on ESPRESSIF_I2C1
-	default ESPRESSIF_I2C1_MASTER_MODE
-
-config ESPRESSIF_I2C1_MASTER_MODE
-	bool "I2C1 Master Mode"
-	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
-
-config ESPRESSIF_I2C1_SLAVE_MODE
-	bool "I2C1 Slave Mode"
-	select I2C_SLAVE
-	select I2C_SLAVE_DRIVER
-	select ESPRESSIF_I2C_PERIPH_SLAVE_MODE
-
-endchoice # ESPRESSIF_I2C1_MODE
-
 config ESPRESSIF_I2C_BITBANG
 	bool "I2C Bitbang"
 	default n
@@ -2229,6 +2195,23 @@ menu "I2C Configuration"
 
 if ESPRESSIF_I2C0
 
+choice ESPRESSIF_I2C0_MODE
+	prompt "I2C0 Mode"
+	depends on ESPRESSIF_I2C0
+	default ESPRESSIF_I2C0_MASTER_MODE
+
+config ESPRESSIF_I2C0_MASTER_MODE
+	bool "I2C0 Master Mode"
+	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
+
+config ESPRESSIF_I2C0_SLAVE_MODE
+	bool "I2C0 Slave Mode"
+	select I2C_SLAVE
+	select I2C_SLAVE_DRIVER
+	select ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+
+endchoice # ESPRESSIF_I2C0_MODE
+
 config ESPRESSIF_I2C0_SCLPIN
 	int "I2C0 SCL Pin"
 	default 6 if !ESPRESSIF_LPI2C
@@ -2244,6 +2227,23 @@ endif # ESPRESSIF_I2C0
 
 if ESPRESSIF_I2C1
 
+choice ESPRESSIF_I2C1_MODE
+	prompt "I2C1 Mode"
+	depends on ESPRESSIF_I2C1
+	default ESPRESSIF_I2C1_MASTER_MODE
+
+config ESPRESSIF_I2C1_MASTER_MODE
+	bool "I2C1 Master Mode"
+	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
+
+config ESPRESSIF_I2C1_SLAVE_MODE
+	bool "I2C1 Slave Mode"
+	select I2C_SLAVE
+	select I2C_SLAVE_DRIVER
+	select ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+
+endchoice # ESPRESSIF_I2C1_MODE
+
 config ESPRESSIF_I2C1_SCLPIN
 	int "I2C1 SCL Pin"
 	default 2
@@ -2256,8 +2256,41 @@ config ESPRESSIF_I2C1_SDAPIN
 
 endif # ESPRESSIF_I2C1
 
+if ESPRESSIF_LPI2C
+
+choice ESPRESSIF_LPI2C_MODE
+	prompt "LPI2C Mode"
+	default ESPRESSIF_LPI2C_MASTER_MODE
+
+config ESPRESSIF_LPI2C_MASTER_MODE
+	bool "I2C0 Master Mode"
+	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
+
+endchoice # ESPRESSIF_LPI2C_MODE
+
+config ESPRESSIF_LPI2C_SCLPIN
+	int "LPI2C SCL Pin"
+	default 7
+	range 7 7
+
+config ESPRESSIF_LPI2C_SDAPIN
+	int "LPI2C SDA Pin"
+	default 6
+	range 6 6
+
+endif # ESPRESSIF_LPI2C
+
 if ESPRESSIF_I2C_BITBANG
 
+choice ESPRESSIF_I2C_BITBANG_MODE
+	prompt "I2C Bitbang Mode"
+	default ESPRESSIF_I2C_BITBANG_MASTER_MODE
+
+config ESPRESSIF_I2C_BITBANG_MASTER_MODE
+	bool "I2C Bitbang Master Mode"
+
+endchoice # ESPRESSIF_I2C_BITBANG_MODE
+
 config ESPRESSIF_I2C_BITBANG_SCLPIN
 	int "I2C Bitbang SCL Pin"
 	default 0
diff --git a/arch/risc-v/src/common/espressif/esp_i2c.c b/arch/risc-v/src/common/espressif/esp_i2c.c
index ea4a8bcc2c..1b4a4a7bee 100644
--- a/arch/risc-v/src/common/espressif/esp_i2c.c
+++ b/arch/risc-v/src/common/espressif/esp_i2c.c
@@ -82,18 +82,6 @@
 #  define ESP_LP_I2C0_ID     I2C_NUM_MAX
 #endif
 
-#ifdef CONFIG_ARCH_CHIP_ESP32H2
-#  define SYSTEM_I2C_EXT0_CLK_EN PCR_I2C0_CLK_EN
-#  define SYSTEM_I2C_EXT0_RST    PCR_I2C0_RST_EN
-#  define SYSTEM_I2C_EXT1_CLK_EN PCR_I2C1_CLK_EN
-#  define SYSTEM_I2C_EXT1_RST    PCR_I2C1_RST_EN
-#endif
-
-#ifdef CONFIG_ARCH_CHIP_ESP32C6
-#  define SYSTEM_I2C_EXT0_CLK_EN PCR_I2C_CLK_EN
-#  define SYSTEM_I2C_EXT0_RST    PCR_I2C_RST_EN
-#endif
-
 #define GET_STATUS(hw) hw->sr.val
 
 #define ESPRESSIF_I2CTIMEOTICKS \
@@ -147,6 +135,26 @@
 
 #define SCL_TIMEOUT_VAL_US (CONFIG_ESPRESSIF_I2CTIMEOMS * 1000)
 
+#if SOC_PERIPH_CLK_CTRL_SHARED
+#  define I2C_CLOCK_SRC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#  define I2C_CLOCK_SRC_ATOMIC()
+#endif
+
+#if !SOC_RCC_IS_INDEPENDENT
+#  define I2C_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#  define I2C_RCC_ATOMIC()
+#endif
+
+#if SOC_LP_I2C_SUPPORTED
+#  define LP_I2C_SRC_CLK_ATOMIC()    PERIPH_RCC_ATOMIC()
+#  define LP_I2C_BUS_CLK_ATOMIC()    PERIPH_RCC_ATOMIC()
+#endif
+
+#define SCL_PIN_ATTR (FUNCTION_2 || INPUT_PULLUP || OUTPUT_OPEN_DRAIN)
+#define SDA_PIN_ATTR (FUNCTION_2 || INPUT_PULLUP || OUTPUT_OPEN_DRAIN)
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -208,23 +216,8 @@ struct esp_trace_s
 struct esp_i2c_config_s
 {
   uint32_t clk_freq;    /* Clock frequency */
-
   uint8_t scl_pin;      /* GPIO configuration for SCL as SCL */
   uint8_t sda_pin;      /* GPIO configuration for SDA as SDA */
-
-#ifndef CONFIG_I2C_POLLED
-  uint8_t periph;      /* Peripheral ID */
-  uint8_t irq;         /* Interrupt ID */
-#endif
-
-  uint32_t clk_bit;    /* Clock enable bit */
-  uint32_t rst_bit;    /* I2C reset bit */
-
-  uint32_t scl_insig;  /* I2C SCL input signal index */
-  uint32_t scl_outsig; /* I2C SCL output signal index */
-
-  uint32_t sda_insig;  /* I2C SDA input signal index */
-  uint32_t sda_outsig; /* I2C SDA output signal index */
 };
 
 /* I2C Device Private Data */
@@ -239,7 +232,7 @@ struct esp_i2c_priv_s
 
   /* Port configuration */
 
-  const struct esp_i2c_config_s *config;
+  struct esp_i2c_config_s *config;
   int refs;                    /* Reference count */
   mutex_t lock;                /* Mutual exclusion mutex */
 
@@ -351,21 +344,11 @@ i2c_hal_context_t i2c0_ctx =
 
 /* I2C device structure */
 
-static const struct esp_i2c_config_s esp_i2c0_config =
+static struct esp_i2c_config_s esp_i2c0_config =
 {
   .clk_freq   = I2C_CLK_FREQ_DEF,
   .scl_pin    = CONFIG_ESPRESSIF_I2C0_SCLPIN,
   .sda_pin    = CONFIG_ESPRESSIF_I2C0_SDAPIN,
-#ifndef CONFIG_I2C_POLLED
-  .periph     = ETS_I2C_EXT0_INTR_SOURCE,
-  .irq        = ESP_IRQ_I2C_EXT0,
-#endif
-  .clk_bit    = SYSTEM_I2C_EXT0_CLK_EN,
-  .rst_bit    = SYSTEM_I2C_EXT0_RST,
-  .scl_insig  = I2CEXT0_SCL_IN_IDX,
-  .scl_outsig = I2CEXT0_SCL_OUT_IDX,
-  .sda_insig  = I2CEXT0_SDA_IN_IDX,
-  .sda_outsig = I2CEXT0_SDA_OUT_IDX
 };
 
 static struct esp_i2c_priv_s esp_i2c0_priv =
@@ -395,7 +378,7 @@ static struct esp_i2c_priv_s esp_i2c0_priv =
 #endif
 
 #ifdef CONFIG_ESPRESSIF_I2C1_MASTER_MODE
-
+#  if SOC_HP_I2C_NUM > 1
 i2c_hal_context_t i2c1_ctx =
 {
   0
@@ -403,21 +386,11 @@ i2c_hal_context_t i2c1_ctx =
 
 /* I2C device structure */
 
-static const struct esp_i2c_config_s esp_i2c1_config =
+static struct esp_i2c_config_s esp_i2c1_config =
 {
   .clk_freq   = I2C_CLK_FREQ_DEF,
   .scl_pin    = CONFIG_ESPRESSIF_I2C1_SCLPIN,
   .sda_pin    = CONFIG_ESPRESSIF_I2C1_SDAPIN,
-#ifndef CONFIG_I2C_POLLED
-  .periph     = ETS_I2C_EXT1_INTR_SOURCE,
-  .irq        = ESP_IRQ_I2C_EXT1,
-#endif
-  .clk_bit    = SYSTEM_I2C_EXT1_CLK_EN,
-  .rst_bit    = SYSTEM_I2C_EXT1_RST,
-  .scl_insig  = I2CEXT1_SCL_IN_IDX,
-  .scl_outsig = I2CEXT1_SCL_OUT_IDX,
-  .sda_insig  = I2CEXT1_SDA_IN_IDX,
-  .sda_outsig = I2CEXT1_SDA_OUT_IDX
 };
 
 static struct esp_i2c_priv_s esp_i2c1_priv =
@@ -444,9 +417,13 @@ static struct esp_i2c_priv_s esp_i2c1_priv =
   .clk_freq   = 0,
   .ctx        = &i2c1_ctx
 };
+#  else
+#    error "This device contains only a single HP I2C port."
+#  endif /* SOC_HP_I2C_NUM > 0 */
 #endif /* CONFIG_ESPRESSIF_I2C1 */
 
 #ifdef CONFIG_ESPRESSIF_LP_I2C0
+#  if SOC_LP_I2C_NUM > 0
 i2c_hal_context_t lp_i2c0_ctx =
 {
   0
@@ -454,21 +431,11 @@ i2c_hal_context_t lp_i2c0_ctx =
 
 /* I2C device structure */
 
-static const struct esp_i2c_config_s esp_lp_i2c0_config =
+static struct esp_i2c_config_s esp_lp_i2c0_config =
 {
   .clk_freq   = I2C_CLK_FREQ_DEF,
   .scl_pin    = 7,
   .sda_pin    = 6,
-#ifndef CONFIG_I2C_POLLED
-  .periph     = ETS_LP_I2C_INTR_SOURCE,
-  .irq        = ESP_IRQ_LP_I2C,
-#endif
-  .clk_bit    = SYSTEM_I2C_EXT0_CLK_EN,
-  .rst_bit    = SYSTEM_I2C_EXT0_RST,
-  .scl_insig  = 0,
-  .scl_outsig = 0,
-  .sda_insig  = 0,
-  .sda_outsig = 0
 };
 
 static struct esp_i2c_priv_s esp_lp_i2c0_priv =
@@ -495,6 +462,9 @@ static struct esp_i2c_priv_s esp_lp_i2c0_priv =
   .clk_freq   = 0,
   .ctx        = &lp_i2c0_ctx
 };
+#  else
+#    error "This device does not contain a LP I2C port."
+#  endif /* SOC_LP_I2C_NUM > 0 */
 #endif /* CONFIG_ESPRESSIF_LP_I2C0 */
 
 /* Trace events strings */
@@ -796,16 +766,26 @@ static void esp_i2c_init_clock(struct esp_i2c_priv_s *priv,
   esp_clk_tree_src_get_freq_hz(priv->clk_src,
                                ESP_CLK_TREE_SRC_FREQ_PRECISION_APPROX,
                                &src_clk_frequency);
-  i2c_hal_set_bus_timing(priv->ctx, priv->config->clk_freq,
-                         priv->clk_src, src_clk_frequency);
+
+  I2C_CLOCK_SRC_ATOMIC()
+    {
+      i2c_hal_set_bus_timing(priv->ctx, priv->config->clk_freq,
+                             priv->clk_src, src_clk_frequency);
+    }
+
   i2c_hal_master_set_scl_timeout_val(priv->ctx, SCL_TIMEOUT_VAL_US,
                                      src_clk_frequency);
 
 #ifdef CONFIG_ESPRESSIF_LPI2C
-  PERIPH_RCC_ATOMIC()
+  LP_I2C_SRC_CLK_ATOMIC()
     {
       lp_i2c_ll_set_source_clk(priv->ctx->dev, priv->clk_src);
     }
+#else
+  I2C_CLOCK_SRC_ATOMIC()
+    {
+      i2c_ll_set_source_clk(priv->ctx->dev, priv->clk_src);
+    }
 #endif
 
   i2c_ll_update(priv->ctx->dev);
@@ -861,27 +841,39 @@ static void esp_i2c_init(struct esp_i2c_priv_s *priv)
 
   if (priv->id < ESP_LP_I2C0_ID)
     {
+      uint32_t scl_in_sig = i2c_periph_signal[priv->id].scl_in_sig;
+      uint32_t scl_out_sig = i2c_periph_signal[priv->id].scl_out_sig;
+      uint32_t sda_in_sig = i2c_periph_signal[priv->id].sda_in_sig;
+      uint32_t sda_out_sig = i2c_periph_signal[priv->id].sda_out_sig;
+
+      I2C_RCC_ATOMIC()
+        {
+          i2c_ll_enable_bus_clock(priv->id, true);
+          i2c_ll_reset_register(priv->id);
+        }
+
+      I2C_CLOCK_SRC_ATOMIC()
+        {
+          i2c_hal_init(priv->ctx, priv->id);
+        }
+
       /* Configure GPIO signals for I2C SCL and SDA pins */
 
       esp_gpiowrite(config->scl_pin, 1);
       esp_gpiowrite(config->sda_pin, 1);
 
-      esp_configgpio(config->scl_pin, INPUT_PULLUP | OUTPUT_OPEN_DRAIN);
-      esp_gpio_matrix_out(config->scl_pin, config->scl_outsig, 0, 0);
-      esp_gpio_matrix_in(config->scl_pin, config->scl_insig, 0);
+      esp_configgpio(config->scl_pin, SCL_PIN_ATTR);
+      esp_gpio_matrix_out(config->scl_pin, scl_out_sig, 0, 0);
+      esp_gpio_matrix_in(config->scl_pin, scl_in_sig, 0);
 
-      esp_configgpio(config->sda_pin, INPUT_PULLUP | OUTPUT_OPEN_DRAIN);
-      esp_gpio_matrix_out(config->sda_pin, config->sda_outsig, 0, 0);
-      esp_gpio_matrix_in(config->sda_pin, config->sda_insig, 0);
-
-      /* Enable I2C hardware */
-
-      periph_module_enable(priv->module);
+      esp_configgpio(config->sda_pin, SDA_PIN_ATTR);
+      esp_gpio_matrix_out(config->sda_pin, sda_out_sig, 0, 0);
+      esp_gpio_matrix_in(config->sda_pin, sda_in_sig, 0);
     }
 #ifdef CONFIG_ESPRESSIF_LPI2C
   else
     {
-      PERIPH_RCC_ATOMIC()
+      LP_I2C_BUS_CLK_ATOMIC()
         {
           /* Enable LP I2C bus clock */
 
@@ -892,6 +884,11 @@ static void esp_i2c_init(struct esp_i2c_priv_s *priv)
           lp_i2c_ll_reset_register(priv->id - LP_I2C_NUM_0);
         }
 
+      I2C_CLOCK_SRC_ATOMIC()
+        {
+          i2c_hal_init(priv->ctx, priv->id);
+        }
+
       esp_lp_i2c_config_io(priv, config->scl_pin);
       esp_lp_i2c_config_io(priv, config->sda_pin);
       const i2c_signal_conn_t *p_i2c_pin = &i2c_periph_signal[priv->id];
@@ -907,16 +904,20 @@ static void esp_i2c_init(struct esp_i2c_priv_s *priv)
     }
 #endif
 
-  i2c_hal_init(priv->ctx, priv->id);
+  /* Initialize I2C Master  */
+
+  i2c_hal_master_init(priv->ctx);
+
+  i2c_ll_update(priv->ctx->dev);
+
+  /* Initialize I2C bus clock */
+
+  esp_i2c_init_clock(priv, config->clk_freq);
 
   /* Disable I2C interrupts */
 
   esp_i2c_intr_disable(priv);
 
-  /* Initialize I2C Master  */
-
-  i2c_hal_master_init(priv->ctx);
-
   /* Configure the hardware filter function */
 
   i2c_ll_master_set_filter(priv->ctx->dev, I2C_FILTER_CYC_NUM_DEF);
@@ -931,10 +932,6 @@ static void esp_i2c_init(struct esp_i2c_priv_s *priv)
 
   i2c_ll_master_rx_full_ack_level(priv->ctx->dev, 1);
 #endif
-
-  /* Initialize I2C bus clock */
-
-  esp_i2c_init_clock(priv, config->clk_freq);
 }
 
 /****************************************************************************
@@ -950,11 +947,17 @@ static void esp_i2c_init(struct esp_i2c_priv_s *priv)
 
 static void esp_i2c_deinit(struct esp_i2c_priv_s *priv)
 {
-  const struct esp_i2c_config_s *config = priv->config;
-
   priv->clk_freq = 0;
-  i2c_hal_deinit(priv->ctx);
-  periph_module_disable(priv->module);
+
+  I2C_CLOCK_SRC_ATOMIC()
+    {
+      i2c_hal_deinit(priv->ctx);
+    }
+
+  I2C_RCC_ATOMIC()
+    {
+      i2c_ll_enable_bus_clock(priv->id, false);
+    }
 }
 
 /****************************************************************************
@@ -1665,7 +1668,6 @@ struct i2c_master_s *esp_i2cbus_initialize(int port)
 {
   struct esp_i2c_priv_s *priv;
 #ifndef CONFIG_I2C_POLLED
-  const struct esp_i2c_config_s *config;
   int ret;
 #endif
 
@@ -1703,16 +1705,15 @@ struct i2c_master_s *esp_i2cbus_initialize(int port)
     }
 
 #ifndef CONFIG_I2C_POLLED
-  config = priv->config;
   if (priv->cpuint != -ENOMEM)
     {
       /* Disable the previous IRQ */
 
-      up_disable_irq(config->irq);
-      esp_teardown_irq(config->periph, priv->cpuint);
+      up_disable_irq(ESP_SOURCE2IRQ(i2c_periph_signal[priv->id].irq));
+      esp_teardown_irq(i2c_periph_signal[priv->id].irq, priv->cpuint);
     }
 
-  priv->cpuint = esp_setup_irq(config->periph,
+  priv->cpuint = esp_setup_irq(i2c_periph_signal[priv->id].irq,
                                ESP_IRQ_PRIORITY_DEFAULT,
                                ESP_IRQ_TRIGGER_LEVEL);
   if (priv->cpuint < 0)
@@ -1725,12 +1726,13 @@ struct i2c_master_s *esp_i2cbus_initialize(int port)
       return NULL;
     }
 
-  ret = irq_attach(config->irq, esp_i2c_irq, priv);
+  ret = irq_attach(ESP_SOURCE2IRQ(i2c_periph_signal[priv->id].irq),
+                   esp_i2c_irq, priv);
   if (ret != OK)
     {
       /* Failed to attach IRQ, free the allocated CPU interrupt */
 
-      esp_teardown_irq(config->periph, priv->cpuint);
+      esp_teardown_irq(i2c_periph_signal[priv->id].irq, priv->cpuint);
       priv->cpuint = -ENOMEM;
       priv->refs--;
       nxmutex_unlock(&priv->lock);
@@ -1740,7 +1742,7 @@ struct i2c_master_s *esp_i2cbus_initialize(int port)
 
   /* Enable the CPU interrupt that is linked to the I2C device. */
 
-  up_enable_irq(config->irq);
+  up_enable_irq(ESP_SOURCE2IRQ(i2c_periph_signal[priv->id].irq));
 #endif
 
   esp_i2c_init(priv);
@@ -1786,8 +1788,8 @@ int esp_i2cbus_uninitialize(struct i2c_master_s *dev)
     }
 
 #ifndef CONFIG_I2C_POLLED
-  up_disable_irq(priv->config->irq);
-  esp_teardown_irq(priv->config->periph, priv->cpuint);
+  up_disable_irq(ESP_SOURCE2IRQ(i2c_periph_signal[priv->id].irq));
+  esp_teardown_irq(i2c_periph_signal[priv->id].irq, priv->cpuint);
   priv->cpuint = -ENOMEM;
 #endif
 
diff --git a/arch/risc-v/src/common/espressif/esp_i2c_slave.c b/arch/risc-v/src/common/espressif/esp_i2c_slave.c
index 3fed25d0f6..764dbfcc3b 100644
--- a/arch/risc-v/src/common/espressif/esp_i2c_slave.c
+++ b/arch/risc-v/src/common/espressif/esp_i2c_slave.c
@@ -80,12 +80,21 @@
 #define I2C_SLAVE_POLL_RATE           10
 #endif
 
+#if SOC_PERIPH_CLK_CTRL_SHARED
+#define I2C_CLOCK_SRC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#define I2C_CLOCK_SRC_ATOMIC()
+#endif
+
 #if !SOC_RCC_IS_INDEPENDENT
 #  define I2C_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
 #else
 #  define I2C_RCC_ATOMIC()
 #endif
 
+#define SCL_PIN_ATTR (FUNCTION_2 | INPUT_PULLUP)
+#define SDA_PIN_ATTR (FUNCTION_2 | INPUT_PULLUP | OUTPUT_OPEN_DRAIN)
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -96,16 +105,6 @@ struct esp_i2c_config_s
 {
   uint8_t scl_pin;      /* GPIO configuration for SCL as SCL */
   uint8_t sda_pin;      /* GPIO configuration for SDA as SDA */
-
-#ifndef CONFIG_I2C_POLLED
-  uint8_t periph;      /* Peripheral ID */
-  uint8_t irq;         /* Interrupt ID */
-#endif
-
-  uint32_t scl_insig;  /* I2C SCL input signal index */
-
-  uint32_t sda_insig;  /* I2C SDA input signal index */
-  uint32_t sda_outsig; /* I2C SDA output signal index */
 };
 
 /* I2C Device Private Data */
@@ -193,13 +192,6 @@ static const struct esp_i2c_config_s esp_i2c0_config =
 {
   .scl_pin    = CONFIG_ESPRESSIF_I2C0_SCLPIN,
   .sda_pin    = CONFIG_ESPRESSIF_I2C0_SDAPIN,
-#ifndef CONFIG_I2C_POLLED
-  .periph     = ETS_I2C_EXT0_INTR_SOURCE,
-  .irq        = ESP_IRQ_I2C_EXT0,
-#endif
-  .scl_insig  = I2CEXT0_SCL_IN_IDX,
-  .sda_insig  = I2CEXT0_SDA_IN_IDX,
-  .sda_outsig = I2CEXT0_SDA_OUT_IDX
 };
 
 static struct esp_i2c_priv_s esp_i2c0_priv =
@@ -249,13 +241,6 @@ static const struct esp_i2c_config_s esp_i2c1_config =
 {
   .scl_pin    = CONFIG_ESPRESSIF_I2C1_SCLPIN,
   .sda_pin    = CONFIG_ESPRESSIF_I2C1_SDAPIN,
-#ifndef CONFIG_I2C_POLLED
-  .periph     = ETS_I2C_EXT1_INTR_SOURCE,
-  .irq        = ESP_IRQ_I2C_EXT1,
-#endif
-  .scl_insig  = I2CEXT1_SCL_IN_IDX,
-  .sda_insig  = I2CEXT1_SDA_IN_IDX,
-  .sda_outsig = I2CEXT1_SDA_OUT_IDX
 };
 
 static struct esp_i2c_priv_s esp_i2c1_priv =
@@ -532,17 +517,22 @@ static void esp_i2c_slave_init(struct esp_i2c_priv_s *priv)
 {
   const struct esp_i2c_config_s *config = priv->config;
 
+  uint32_t scl_in_sig = i2c_periph_signal[priv->id].scl_in_sig;
+  uint32_t scl_out_sig = i2c_periph_signal[priv->id].scl_out_sig;
+  uint32_t sda_in_sig = i2c_periph_signal[priv->id].sda_in_sig;
+  uint32_t sda_out_sig = i2c_periph_signal[priv->id].sda_out_sig;
+
   /* Configure GPIO signals for I2C SCL and SDA pins */
 
   esp_gpiowrite(config->scl_pin, 1);
   esp_gpiowrite(config->sda_pin, 1);
 
-  esp_configgpio(config->scl_pin, INPUT_PULLUP);
-  esp_gpio_matrix_in(config->scl_pin, config->scl_insig, 0);
+  esp_configgpio(config->scl_pin, SCL_PIN_ATTR);
+  esp_gpio_matrix_in(config->scl_pin, scl_in_sig, 0);
 
-  esp_configgpio(config->sda_pin, INPUT_PULLUP | OUTPUT_OPEN_DRAIN);
-  esp_gpio_matrix_out(config->sda_pin, config->sda_outsig, 0, 0);
-  esp_gpio_matrix_in(config->sda_pin, config->sda_insig, 0);
+  esp_configgpio(config->sda_pin, SDA_PIN_ATTR);
+  esp_gpio_matrix_out(config->sda_pin, sda_out_sig, 0, 0);
+  esp_gpio_matrix_in(config->sda_pin, sda_in_sig, 0);
 
   /* Enable I2C hardware */
 
@@ -552,7 +542,10 @@ static void esp_i2c_slave_init(struct esp_i2c_priv_s *priv)
       i2c_ll_reset_register(priv->id);
     }
 
-  i2c_hal_init(priv->ctx, priv->id);
+  I2C_CLOCK_SRC_ATOMIC()
+    {
+      i2c_hal_init(priv->ctx, priv->id);
+    }
 
   /* Disable I2C interrupts */
 
@@ -562,7 +555,11 @@ static void esp_i2c_slave_init(struct esp_i2c_priv_s *priv)
 
   i2c_hal_slave_init(priv->ctx);
   i2c_ll_slave_enable_auto_start(priv->ctx->dev, true);
-  i2c_ll_set_source_clk(priv->ctx->dev, I2C_CLK_SRC_DEFAULT);
+  I2C_CLOCK_SRC_ATOMIC()
+    {
+      i2c_ll_set_source_clk(priv->ctx->dev, I2C_CLK_SRC_DEFAULT);
+    }
+
   i2c_ll_set_slave_addr(priv->ctx->dev, priv->addr, false);
   i2c_ll_set_rxfifo_full_thr(priv->ctx->dev, I2C_FIFO_FULL_THRESH_VAL);
   i2c_ll_set_txfifo_empty_thr(priv->ctx->dev, I2C_FIFO_EMPTY_THRESH_VAL);
@@ -590,9 +587,11 @@ static void esp_i2c_slave_init(struct esp_i2c_priv_s *priv)
 
 static void esp_i2c_slave_deinit(struct esp_i2c_priv_s *priv)
 {
-  const struct esp_i2c_config_s *config = priv->config;
+  I2C_CLOCK_SRC_ATOMIC()
+    {
+      i2c_hal_deinit(priv->ctx);
+    }
 
-  i2c_hal_deinit(priv->ctx);
   I2C_RCC_ATOMIC()
     {
       i2c_ll_enable_bus_clock(priv->id, false);
@@ -834,12 +833,6 @@ struct i2c_slave_s *esp_i2cbus_slave_initialize(int port, int addr)
 {
   struct esp_i2c_priv_s *priv;
   int ret;
-#ifndef CONFIG_I2C_POLLED
-  const struct esp_i2c_config_s *config;
-#else
-  char *argv[2];
-  char arg1[32];
-#endif
 
   switch (port)
     {
@@ -870,16 +863,15 @@ struct i2c_slave_s *esp_i2cbus_slave_initialize(int port, int addr)
     }
 
 #ifndef CONFIG_I2C_POLLED
-  config = priv->config;
   if (priv->cpuint != -ENOMEM)
     {
       /* Disable the previous IRQ */
 
-      up_disable_irq(config->irq);
-      esp_teardown_irq(config->periph, priv->cpuint);
+      up_disable_irq(ESP_SOURCE2IRQ(i2c_periph_signal[priv->id].irq));
+      esp_teardown_irq(i2c_periph_signal[priv->id].irq, priv->cpuint);
     }
 
-  priv->cpuint = esp_setup_irq(config->periph,
+  priv->cpuint = esp_setup_irq(i2c_periph_signal[priv->id].irq,
                                ESP_IRQ_PRIORITY_DEFAULT,
                                ESP_IRQ_TRIGGER_LEVEL);
   if (priv->cpuint < 0)
@@ -892,12 +884,13 @@ struct i2c_slave_s *esp_i2cbus_slave_initialize(int port, int addr)
       return NULL;
     }
 
-  ret = irq_attach(config->irq, esp_i2c_slave_irq, priv);
+  ret = irq_attach(ESP_SOURCE2IRQ(i2c_periph_signal[priv->id].irq),
+                   esp_i2c_slave_irq, priv);
   if (ret != OK)
     {
       /* Failed to attach IRQ, free the allocated CPU interrupt */
 
-      esp_teardown_irq(config->periph, priv->cpuint);
+      esp_teardown_irq(i2c_periph_signal[priv->id].irq, priv->cpuint);
       priv->cpuint = -ENOMEM;
       priv->refs--;
       nxmutex_unlock(&priv->lock);
@@ -907,7 +900,7 @@ struct i2c_slave_s *esp_i2cbus_slave_initialize(int port, int addr)
 
   /* Enable the CPU interrupt that is linked to the I2C device. */
 
-  up_enable_irq(config->irq);
+  up_enable_irq(ESP_SOURCE2IRQ(i2c_periph_signal[priv->id].irq));
 #else
   /* Create thread for polling sensor data */
 
@@ -976,8 +969,8 @@ int esp_i2cbus_slave_uninitialize(struct i2c_slave_s *dev)
     }
 
 #ifndef CONFIG_I2C_POLLED
-  up_disable_irq(priv->config->irq);
-  esp_teardown_irq(priv->config->periph, priv->cpuint);
+  up_disable_irq(ESP_SOURCE2IRQ(i2c_periph_signal[priv->id].irq));
+  esp_teardown_irq(i2c_periph_signal[priv->id].irq, priv->cpuint);
   priv->cpuint = -ENOMEM;
 #endif
 
diff --git a/arch/risc-v/src/common/espressif/esp_i2c_slave.h b/arch/risc-v/src/common/espressif/esp_i2c_slave.h
index b814eb078a..3c76a28c6b 100644
--- a/arch/risc-v/src/common/espressif/esp_i2c_slave.h
+++ b/arch/risc-v/src/common/espressif/esp_i2c_slave.h
@@ -37,13 +37,8 @@
 
 #ifndef __ASSEMBLY__
 
-#ifdef CONFIG_ESPRESSIF_I2C0_SLAVE_MODE
-#  define ESPRESSIF_I2C0_SLAVE 0
-#endif
-
-#ifdef CONFIG_ESPRESSIF_I2C1_SLAVE_MODE
-#  define ESPRESSIF_I2C1_SLAVE 1
-#endif
+#define ESPRESSIF_I2C0_SLAVE 0
+#define ESPRESSIF_I2C1_SLAVE 1
 
 /****************************************************************************
  * Public Function Prototypes
diff --git a/boards/risc-v/esp32c3/common/src/esp_board_i2c.c b/boards/risc-v/esp32c3/common/src/esp_board_i2c.c
index 07182aed6d..a844ff59f9 100644
--- a/boards/risc-v/esp32c3/common/src/esp_board_i2c.c
+++ b/boards/risc-v/esp32c3/common/src/esp_board_i2c.c
@@ -149,15 +149,21 @@ int board_i2c_init(void)
   int ret = OK;
 
 #ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
+#  ifdef CONFIG_ESPRESSIF_I2C0_MASTER_MODE
   ret = i2c_driver_init(ESPRESSIF_I2C0);
+#  endif
 #endif
 
 #ifdef CONFIG_ESPRESSIF_I2C_BITBANG
+#  ifdef CONFIG_ESPRESSIF_I2C_BITBANG_MASTER_MODE
   ret = i2c_bitbang_driver_init(ESPRESSIF_I2C_BITBANG);
+#  endif
 #endif
 
 #ifdef CONFIG_ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+#  ifdef CONFIG_ESPRESSIF_I2C0_SLAVE_MODE
   ret = i2c_slave_driver_init(ESPRESSIF_I2C0_SLAVE, I2C0_SLAVE_ADDR);
+#  endif
 #endif
 
   return ret;
diff --git a/boards/risc-v/esp32c6/common/src/esp_board_i2c.c b/boards/risc-v/esp32c6/common/src/esp_board_i2c.c
index 115b3d4339..c57dafc225 100644
--- a/boards/risc-v/esp32c6/common/src/esp_board_i2c.c
+++ b/boards/risc-v/esp32c6/common/src/esp_board_i2c.c
@@ -148,17 +148,22 @@ int board_i2c_init(void)
 {
   int ret = OK;
 
-#if defined(CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE) && \
-    defined(CONFIG_ESPRESSIF_I2C0)
+#ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
+#  ifdef CONFIG_ESPRESSIF_I2C0_MASTER_MODE
   ret = i2c_driver_init(ESPRESSIF_I2C0);
+#  endif
 #endif
 
 #ifdef CONFIG_ESPRESSIF_I2C_BITBANG
+#  ifdef CONFIG_ESPRESSIF_I2C_BITBANG_MASTER_MODE
   ret = i2c_bitbang_driver_init(ESPRESSIF_I2C_BITBANG);
+#  endif
 #endif
 
 #ifdef CONFIG_ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+#  ifdef CONFIG_ESPRESSIF_I2C0_SLAVE_MODE
   ret = i2c_slave_driver_init(ESPRESSIF_I2C0_SLAVE, I2C0_SLAVE_ADDR);
+#  endif
 #endif
 
 #ifdef CONFIG_ESPRESSIF_LP_I2C0
diff --git a/boards/risc-v/esp32h2/common/src/esp_board_i2c.c b/boards/risc-v/esp32h2/common/src/esp_board_i2c.c
index c56b61c6e2..bb39e68b32 100644
--- a/boards/risc-v/esp32h2/common/src/esp_board_i2c.c
+++ b/boards/risc-v/esp32h2/common/src/esp_board_i2c.c
@@ -47,8 +47,10 @@
  ****************************************************************************/
 
 #ifdef CONFIG_ESPRESSIF_I2C_PERIPH_SLAVE_MODE
-#define I2C0_SLAVE_ADDR   0x28
-#define I2C0_SLAVE_NBITS  7
+#  define I2C0_SLAVE_ADDR   0x28
+#  define I2C0_SLAVE_NBITS  7
+#  define I2C1_SLAVE_ADDR   0x28
+#  define I2C1_SLAVE_NBITS  7
 #endif
 
 /****************************************************************************
@@ -115,12 +117,14 @@ static int i2c_slave_driver_init(int bus, int addr)
   i2c = esp_i2cbus_slave_initialize(bus, addr);
   if (i2c == NULL)
     {
-      syslog(LOG_ERR, "Failed to get I2C%d interface\n", bus);
+      syslog(LOG_ERR, "Failed to get I2C%d slave interface\n", bus);
       return -ENODEV;
     }
 
 #ifdef CONFIG_I2C_DRIVER
-  ret = i2c_slave_register(i2c, bus, addr, I2C0_SLAVE_NBITS);
+  ret = i2c_slave_register(i2c, bus, addr,
+                           bus == ESPRESSIF_I2C0_SLAVE ? \
+                           I2C0_SLAVE_NBITS : I2C1_SLAVE_NBITS);
   if (ret < 0)
     {
       syslog(LOG_ERR, "Failed to register I2C%d driver: %d\n", bus, ret);
@@ -149,25 +153,29 @@ int board_i2c_init(void)
   int ret = OK;
 
 #ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
-#ifdef CONFIG_ESPRESSIF_I2C0
+#  ifdef CONFIG_ESPRESSIF_I2C0_MASTER_MODE
   ret = i2c_driver_init(ESPRESSIF_I2C0);
-  if (ret != OK)
-    {
-      return ret;
-    }
-#endif
+#  endif
 
-#ifdef CONFIG_ESPRESSIF_I2C1
+#  ifdef CONFIG_ESPRESSIF_I2C1_MASTER_MODE
   ret = i2c_driver_init(ESPRESSIF_I2C1);
-#endif
+#  endif
 #endif
 
 #ifdef CONFIG_ESPRESSIF_I2C_BITBANG
+#  ifdef CONFIG_ESPRESSIF_I2C_BITBANG_MASTER_MODE
   ret = i2c_bitbang_driver_init(ESPRESSIF_I2C_BITBANG);
+#  endif
 #endif
 
 #ifdef CONFIG_ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+#  ifdef CONFIG_ESPRESSIF_I2C0_SLAVE_MODE
   ret = i2c_slave_driver_init(ESPRESSIF_I2C0_SLAVE, I2C0_SLAVE_ADDR);
+#  endif
+
+#  ifdef CONFIG_ESPRESSIF_I2C1_SLAVE_MODE
+  ret = i2c_slave_driver_init(ESPRESSIF_I2C1_SLAVE, I2C1_SLAVE_ADDR);
+#  endif
 #endif
 
   return ret;