diff --git a/components/esp_timer/src/esp_timer_impl_systimer.c b/components/esp_timer/src/esp_timer_impl_systimer.c
index 30abe9bf757..c3ae050df9f 100644
--- a/components/esp_timer/src/esp_timer_impl_systimer.c
+++ b/components/esp_timer/src/esp_timer_impl_systimer.c
@@ -80,9 +80,7 @@ void IRAM_ATTR esp_timer_impl_set_alarm_id(uint64_t timestamp, unsigned alarm_id
     portENTER_CRITICAL_SAFE(&s_time_update_lock);
     timestamp_id[alarm_id] = timestamp;
     timestamp = MIN(timestamp_id[0], timestamp_id[1]);
-    if (timestamp != UINT64_MAX) {
-        systimer_hal_set_alarm_target(&systimer_hal, SYSTIMER_LL_ALARM_CLOCK, timestamp);
-    }
+    systimer_hal_set_alarm_target(&systimer_hal, SYSTIMER_LL_ALARM_CLOCK, timestamp);
     portEXIT_CRITICAL_SAFE(&s_time_update_lock);
 }