diff --git a/lib/extension/homeassistant.js b/lib/extension/homeassistant.js
index 5aa3552d8..d266901cd 100644
--- a/lib/extension/homeassistant.js
+++ b/lib/extension/homeassistant.js
@@ -280,33 +280,35 @@ class HomeAssistant extends Extension {
 
             discoveryEntries.push(discoveryEntry);
         } else if (firstExpose.type === 'cover') {
-            assert(!endpoint, `Endpoint not supported for cover type`);
-            const hasPosition = exposes.find((expose) => expose.features.find((e) => e.name === 'position'));
+            const position = exposes.find((expose) => expose.features.find((e) => e.name === 'position'));
             const hasTilt = exposes.find((expose) => expose.features.find((e) => e.name === 'tilt'));
 
             const discoveryEntry = {
                 type: 'cover',
-                object_id: 'cover',
+                object_id: endpoint ? `cover_${endpoint}` : 'cover',
                 discovery_payload: {
                     command_topic: true,
-                    state_topic: !hasPosition,
+                    state_topic: !position,
+                    command_topic_prefix: endpoint,
                 },
             };
 
-            if (!hasPosition && !hasTilt) {
+            if (!position && !hasTilt) {
                 discoveryEntry.discovery_payload.optimistic = true;
             }
 
-            if (hasPosition) {
+            if (position) {
+                const p = position.features.find((f) => f.name === 'position');
                 discoveryEntry.discovery_payload = {...discoveryEntry.discovery_payload,
-                    position_template: '{{ value_json.position }}',
-                    set_position_template: '{ "position": {{ position }} }',
+                    position_template: `{{ value_json.${getProperty(p)} }}`,
+                    set_position_template: `{ "${getProperty(p)}": {{ position }} }`,
                     set_position_topic: true,
                     position_topic: true,
                 };
             }
 
             if (hasTilt) {
+                assert(!endpoint, `Endpoint with tilt not supported for cover type`);
                 discoveryEntry.discovery_payload = {...discoveryEntry.discovery_payload,
                     tilt_command_topic: true,
                     tilt_status_topic: true,