diff --git a/components/ulp/CMakeLists.txt b/components/ulp/CMakeLists.txt
index 42b55d7b43..779b9cd87d 100644
--- a/components/ulp/CMakeLists.txt
+++ b/components/ulp/CMakeLists.txt
@@ -42,7 +42,9 @@ if(CONFIG_ULP_COPROC_TYPE_FSM OR CONFIG_ULP_COPROC_TYPE_RISCV)
             "ulp_fsm/ulp.c"
             "ulp_fsm/ulp_macro.c")
 
-    elseif(CONFIG_ULP_COPROC_TYPE_RISCV)
+    endif()
+
+    if(CONFIG_ULP_COPROC_TYPE_RISCV)
         list(APPEND srcs
             "ulp_riscv/ulp_riscv.c"
             "ulp_riscv/ulp_riscv_lock.c"
diff --git a/components/ulp/Kconfig b/components/ulp/Kconfig
index 9ed9c43006..a1f072f798 100644
--- a/components/ulp/Kconfig
+++ b/components/ulp/Kconfig
@@ -8,23 +8,21 @@ menu "Ultra Low Power (ULP) Co-processor"
             Enable this feature if you plan to use the ULP Co-processor.
             Once this option is enabled, further ULP co-processor configuration will appear in the menu.
 
-    choice ULP_COPROC_TYPE
-        prompt "ULP Co-processor type"
-        depends on ULP_COPROC_ENABLED
-        default ULP_COPROC_TYPE_RISCV if (IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3)
+    config ULP_COPROC_TYPE_FSM
+        bool "Enable ULP FSM (Finite State Machine)"
+        depends on (SOC_ULP_FSM_SUPPORTED && ULP_COPROC_ENABLED)
         help
-            Choose the ULP Coprocessor type: ULP FSM (Finite State Machine) or ULP RISC-V.
-
-        config ULP_COPROC_TYPE_FSM
-            bool "ULP FSM (Finite State Machine)"
-            depends on SOC_ULP_FSM_SUPPORTED
-        config ULP_COPROC_TYPE_RISCV
-            bool "ULP RISC-V"
-            depends on SOC_RISCV_COPROC_SUPPORTED
-        config ULP_COPROC_TYPE_LP_CORE
-            bool "LP core RISC-V"
-            depends on SOC_LP_CORE_SUPPORTED
-    endchoice
+            Note: On devices with both ULP FSM and ULP RISC-V, both ULPs can be enabled simultaneously at compile-time, 
+            but may not be used simultaneously at run-time. 
+    config ULP_COPROC_TYPE_RISCV
+        bool "Enable ULP RISC-V"
+        depends on (SOC_RISCV_COPROC_SUPPORTED && ULP_COPROC_ENABLED)
+        help
+            Note: On devices with both ULP FSM and ULP RISC-V, both ULPs can be enabled simultaneously at compile-time, 
+            but may not be used simultaneously at run-time. 
+    config ULP_COPROC_TYPE_LP_CORE
+        bool "Enable LP core RISC-V"
+        depends on (SOC_LP_CORE_SUPPORTED && ULP_COPROC_ENABLED)
 
     config ULP_COPROC_RESERVE_MEM
         int