diff --git a/components/task/include/run_on_core.hpp b/components/task/include/run_on_core.hpp
index ce8b15d1d..711cdd25c 100644
--- a/components/task/include/run_on_core.hpp
+++ b/components/task/include/run_on_core.hpp
@@ -151,7 +151,13 @@ static void run_on_core_non_blocking(const auto &f, int core_id, size_t stack_si
     f();
     return;
   }
-  auto thread = std::thread(f);
+  auto thread = std::thread(
+      [](const auto &f) {
+        f();
+        // delete ourselves (the task that was created by the thread)
+        vTaskDelete(nullptr);
+      },
+      f);
   thread.detach();
 }
 
diff --git a/components/task/src/task.cpp b/components/task/src/task.cpp
index 10aac7f90..944b8ed21 100644
--- a/components/task/src/task.cpp
+++ b/components/task/src/task.cpp
@@ -268,5 +268,5 @@ void Task::thread_function() {
       }
     }
 #endif // ESP_PLATFORM
-  }
+  }    // while (started_)
 }