diff --git a/lib/controller.js b/lib/controller.js
index b0af3b4a1..e3215e0a5 100644
--- a/lib/controller.js
+++ b/lib/controller.js
@@ -53,8 +53,8 @@ class Controller {
             settings.write();
         }
 
-        // We can't handle devices without modelId or cid.
-        if (!device.modelId || !message.data.cid) {
+        // We can't handle devices without modelId.
+        if (!device.modelId) {
             return;
         }
 
@@ -77,10 +77,20 @@ class Controller {
             payload.state_topic = `${settings.get().mqtt.base_topic}/${friendlyName}`;
             payload.availability_topic = `${settings.get().mqtt.base_topic}/bridge/state`;
             payload.name = friendlyName;
+
+            if (payload.command_topic) {
+                payload.command_topic = `${settings.get().mqtt.base_topic}/${friendlyName}/set`;
+            }
+
             this.mqtt.publish(topic, JSON.stringify(payload), true, null, 'homeassistant');
             this.hassDiscoveryCache[device.ieeeAddr] = true;
         }
 
+        // After this point we cant handle message withoud cid anymore.
+        if (!message.data.cid) {
+            return;
+        }
+
         // Find a conveter for this message.
         const cid = message.data.cid;
         const converters = zigbee2mqtt.filter((c) => c.devices.includes(mappedModel.model) && c.cid === cid && c.type === message.type);