diff --git a/lib/extension/homeassistant.js b/lib/extension/homeassistant.js
index d41d3b57..e1d2d7c9 100644
--- a/lib/extension/homeassistant.js
+++ b/lib/extension/homeassistant.js
@@ -319,11 +319,9 @@ class HomeAssistant extends Extension {
                             presence: {device_class: 'presence'},
                         };
 
-                        assert(!expose.endpoint, `Endpoint not supported for binary type`);
-
                         discoveryEntry = {
                             type: 'binary_sensor',
-                            object_id: expose.name,
+                            object_id: expose.endpoint ? `${expose.name}_${expose.endpoint}` : `${expose.name}`,
                             discovery_payload: {
                                 value_template: `{{ value_json.${expose.property} }}`,
                                 payload_on: expose.value_on,
@@ -364,11 +362,9 @@ class HomeAssistant extends Extension {
                             local_temperature: {device_class: 'temperature'},
                         };
 
-                        assert(!expose.endpoint, `Endpoint not supported for numeric type`);
-
                         discoveryEntry = {
                             type: 'sensor',
-                            object_id: expose.name,
+                            object_id: expose.endpoint ? `${expose.name}_${expose.endpoint}` : `${expose.name}`,
                             discovery_payload: {
                                 unit_of_measurement: expose.unit ? expose.unit : '-',
                                 value_template: `{{ value_json.${expose.property} }}`,