diff --git a/components/esp_pm/pm_impl.c b/components/esp_pm/pm_impl.c
index 7de783d6fa..a494e27814 100644
--- a/components/esp_pm/pm_impl.c
+++ b/components/esp_pm/pm_impl.c
@@ -323,6 +323,7 @@ esp_err_t esp_pm_configure(const void* vconfig)
     s_config_changed = true;
     portEXIT_CRITICAL(&s_switch_lock);
 
+    do_switch(PM_MODE_CPU_MAX);
     return ESP_OK;
 }
 
@@ -484,7 +485,7 @@ static void IRAM_ATTR do_switch(pm_mode_t new_mode)
 #endif
         portEXIT_CRITICAL_ISR(&s_switch_lock);
     } while (true);
-    if (new_mode == s_mode) {
+    if ((new_mode == s_mode) && !s_config_changed) {
         portEXIT_CRITICAL_ISR(&s_switch_lock);
         return;
     }
diff --git a/components/esp_pm/test/test_pm.c b/components/esp_pm/test/test_pm.c
index a90b93d3cd..8fc1ebb81d 100644
--- a/components/esp_pm/test/test_pm.c
+++ b/components/esp_pm/test/test_pm.c
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Unlicense OR CC0-1.0
+ */
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <stdint.h>
@@ -60,12 +66,8 @@ static void switch_freq(int mhz)
         .min_freq_mhz = MIN(mhz, xtal_freq_mhz),
     };
     ESP_ERROR_CHECK( esp_pm_configure(&pm_config) );
-    printf("Waiting for frequency to be set to %d MHz...\n", mhz);
-    while (esp_clk_cpu_freq() / MHZ != mhz)
-    {
-        vTaskDelay(pdMS_TO_TICKS(200));
-        printf("Frequency is %d MHz\n", esp_clk_cpu_freq() / MHZ);
-    }
+    TEST_ASSERT_EQUAL_UINT32(mhz, esp_clk_cpu_freq() / MHZ);
+    printf("Frequency is %d MHz\n", esp_clk_cpu_freq() / MHZ);
 }
 
 #if CONFIG_IDF_TARGET_ESP32C3
diff --git a/tools/ci/check_copyright_ignore.txt b/tools/ci/check_copyright_ignore.txt
index 25aa104a51..f075d03219 100644
--- a/tools/ci/check_copyright_ignore.txt
+++ b/tools/ci/check_copyright_ignore.txt
@@ -465,7 +465,6 @@ components/esp_phy/src/phy_init_esp32hxx.c
 components/esp_phy/test/test_phy_rtc.c
 components/esp_pm/include/esp_private/pm_impl.h
 components/esp_pm/include/esp_private/pm_trace.h
-components/esp_pm/test/test_pm.c
 components/esp_rom/esp32/ld/esp32.rom.api.ld
 components/esp_rom/esp32/ld/esp32.rom.eco3.ld
 components/esp_rom/esp32/ld/esp32.rom.ld