diff --git a/authlib/jose/rfc7519/claims.py b/authlib/jose/rfc7519/claims.py
index e0730960..037d56f0 100644
--- a/authlib/jose/rfc7519/claims.py
+++ b/authlib/jose/rfc7519/claims.py
@@ -53,8 +53,11 @@ def __getattr__(self, key):
 
     def _validate_essential_claims(self):
         for k in self.options:
-            if self.options[k].get('essential') and not self.get(k):
-                raise MissingClaimError(k)
+            if self.options[k].get('essential'):
+                if k not in self:
+                    raise MissingClaimError(k)
+                elif not self.get(k):
+                    raise InvalidClaimError(k)
 
     def _validate_claim_value(self, claim_name):
         option = self.options.get(claim_name)