diff --git a/homeassistant/components/alexa/logbook.py b/homeassistant/components/alexa/logbook.py
index efc188a7f8b..153c7b7d61a 100644
--- a/homeassistant/components/alexa/logbook.py
+++ b/homeassistant/components/alexa/logbook.py
@@ -17,10 +17,10 @@ def async_describe_events(hass, async_describe_event):
         if entity_id:
             state = hass.states.get(entity_id)
             name = state.name if state else entity_id
-            message = f"send command {data['request']['namespace']}/{data['request']['name']} for {name}"
+            message = f"sent command {data['request']['namespace']}/{data['request']['name']} for {name}"
         else:
             message = (
-                f"send command {data['request']['namespace']}/{data['request']['name']}"
+                f"sent command {data['request']['namespace']}/{data['request']['name']}"
             )
 
         return {"name": "Amazon Alexa", "message": message, "entity_id": entity_id}
diff --git a/homeassistant/components/cloud/google_config.py b/homeassistant/components/cloud/google_config.py
index 62ca1b15a71..41f62c32c39 100644
--- a/homeassistant/components/cloud/google_config.py
+++ b/homeassistant/components/cloud/google_config.py
@@ -5,10 +5,12 @@ import logging
 from hass_nabucasa import Cloud, cloud_api
 from hass_nabucasa.google_report_state import ErrorResponse
 
+from homeassistant.components.google_assistant.const import DOMAIN as GOOGLE_DOMAIN
 from homeassistant.components.google_assistant.helpers import AbstractConfig
 from homeassistant.const import CLOUD_NEVER_EXPOSED_ENTITIES, HTTP_OK
 from homeassistant.core import CoreState, split_entity_id
 from homeassistant.helpers import entity_registry
+from homeassistant.setup import async_setup_component
 
 from .const import (
     CONF_ENTITY_CONFIG,
@@ -84,6 +86,9 @@ class CloudGoogleConfig(AbstractConfig):
         """Perform async initialization of config."""
         await super().async_initialize()
 
+        if self.enabled and GOOGLE_DOMAIN not in self.hass.config.components:
+            await async_setup_component(self.hass, GOOGLE_DOMAIN, {})
+
         # Remove old/wrong user agent ids
         remove_agent_user_ids = []
         for agent_user_id in self._store.agent_user_ids:
@@ -164,6 +169,9 @@ class CloudGoogleConfig(AbstractConfig):
 
     async def _async_prefs_updated(self, prefs):
         """Handle updated preferences."""
+        if self.enabled and GOOGLE_DOMAIN not in self.hass.config.components:
+            await async_setup_component(self.hass, GOOGLE_DOMAIN, {})
+
         if self.should_report_state != self.is_reporting_state:
             if self.should_report_state:
                 self.async_enable_report_state()
diff --git a/homeassistant/components/google_assistant/__init__.py b/homeassistant/components/google_assistant/__init__.py
index 7793ed4d659..13516783233 100644
--- a/homeassistant/components/google_assistant/__init__.py
+++ b/homeassistant/components/google_assistant/__init__.py
@@ -86,12 +86,17 @@ GOOGLE_ASSISTANT_SCHEMA = vol.All(
     _check_report_state,
 )
 
-CONFIG_SCHEMA = vol.Schema({DOMAIN: GOOGLE_ASSISTANT_SCHEMA}, extra=vol.ALLOW_EXTRA)
+CONFIG_SCHEMA = vol.Schema(
+    {vol.Optional(DOMAIN): GOOGLE_ASSISTANT_SCHEMA}, extra=vol.ALLOW_EXTRA
+)
 
 
 async def async_setup(hass: HomeAssistant, yaml_config: dict[str, Any]):
     """Activate Google Actions component."""
-    config = yaml_config.get(DOMAIN, {})
+    if DOMAIN not in yaml_config:
+        return True
+
+    config = yaml_config[DOMAIN]
 
     google_config = GoogleConfig(hass, config)
     await google_config.async_initialize()
diff --git a/homeassistant/components/google_assistant/logbook.py b/homeassistant/components/google_assistant/logbook.py
new file mode 100644
index 00000000000..ef2bccd2c65
--- /dev/null
+++ b/homeassistant/components/google_assistant/logbook.py
@@ -0,0 +1,29 @@
+"""Describe logbook events."""
+from homeassistant.const import ATTR_ENTITY_ID
+from homeassistant.core import callback
+
+from .const import DOMAIN, EVENT_COMMAND_RECEIVED
+
+COMMON_COMMAND_PREFIX = "action.devices.commands."
+
+
+@callback
+def async_describe_events(hass, async_describe_event):
+    """Describe logbook events."""
+
+    @callback
+    def async_describe_logbook_event(event):
+        """Describe a logbook event."""
+        entity_id = event.data[ATTR_ENTITY_ID]
+        state = hass.states.get(entity_id)
+        name = state.name if state else entity_id
+
+        command = event.data["execution"]["command"]
+        if command.startswith(COMMON_COMMAND_PREFIX):
+            command = command[len(COMMON_COMMAND_PREFIX) :]
+
+        message = f"sent command {command} for {name} (via {event.data['source']})"
+
+        return {"name": "Google Assistant", "message": message, "entity_id": entity_id}
+
+    async_describe_event(DOMAIN, EVENT_COMMAND_RECEIVED, async_describe_logbook_event)
diff --git a/tests/components/alexa/test_init.py b/tests/components/alexa/test_init.py
index c0972351cce..eac4b32e5ba 100644
--- a/tests/components/alexa/test_init.py
+++ b/tests/components/alexa/test_init.py
@@ -51,19 +51,19 @@ async def test_humanify_alexa_event(hass):
     event1, event2, event3 = results
 
     assert event1["name"] == "Amazon Alexa"
-    assert event1["message"] == "send command Alexa.Discovery/Discover"
+    assert event1["message"] == "sent command Alexa.Discovery/Discover"
     assert event1["entity_id"] is None
 
     assert event2["name"] == "Amazon Alexa"
     assert (
         event2["message"]
-        == "send command Alexa.PowerController/TurnOn for Kitchen Light"
+        == "sent command Alexa.PowerController/TurnOn for Kitchen Light"
     )
     assert event2["entity_id"] == "light.kitchen"
 
     assert event3["name"] == "Amazon Alexa"
     assert (
         event3["message"]
-        == "send command Alexa.PowerController/TurnOn for light.non_existing"
+        == "sent command Alexa.PowerController/TurnOn for light.non_existing"
     )
     assert event3["entity_id"] == "light.non_existing"
diff --git a/tests/components/cloud/test_google_config.py b/tests/components/cloud/test_google_config.py
index 5f29a41c6e0..bc430347e08 100644
--- a/tests/components/cloud/test_google_config.py
+++ b/tests/components/cloud/test_google_config.py
@@ -225,3 +225,19 @@ def test_enabled_requires_valid_sub(hass, mock_expired_cloud_login, cloud_prefs)
     )
 
     assert not config.enabled
+
+
+async def test_setup_integration(hass, mock_conf, cloud_prefs):
+    """Test that we set up the integration if used."""
+    mock_conf._cloud.subscription_expired = False
+
+    assert "google_assistant" not in hass.config.components
+
+    await mock_conf.async_initialize()
+    assert "google_assistant" in hass.config.components
+
+    hass.config.components.remove("google_assistant")
+
+    await cloud_prefs.async_update()
+    await hass.async_block_till_done()
+    assert "google_assistant" in hass.config.components
diff --git a/tests/components/google_assistant/test_logbook.py b/tests/components/google_assistant/test_logbook.py
new file mode 100644
index 00000000000..4f996ba038f
--- /dev/null
+++ b/tests/components/google_assistant/test_logbook.py
@@ -0,0 +1,72 @@
+"""The tests for Google Assistant logbook."""
+from homeassistant.components import logbook
+from homeassistant.components.google_assistant.const import (
+    DOMAIN,
+    EVENT_COMMAND_RECEIVED,
+    SOURCE_CLOUD,
+    SOURCE_LOCAL,
+)
+from homeassistant.const import ATTR_ENTITY_ID, ATTR_FRIENDLY_NAME
+from homeassistant.setup import async_setup_component
+
+from tests.components.logbook.test_init import MockLazyEventPartialState
+
+
+async def test_humanify_command_received(hass):
+    """Test humanifying command event."""
+    hass.config.components.add("recorder")
+    hass.config.components.add("frontend")
+    hass.config.components.add("google_assistant")
+    assert await async_setup_component(hass, "logbook", {})
+    entity_attr_cache = logbook.EntityAttributeCache(hass)
+
+    hass.states.async_set(
+        "light.kitchen", "on", {ATTR_FRIENDLY_NAME: "The Kitchen Lights"}
+    )
+
+    events = list(
+        logbook.humanify(
+            hass,
+            [
+                MockLazyEventPartialState(
+                    EVENT_COMMAND_RECEIVED,
+                    {
+                        "request_id": "abcd",
+                        ATTR_ENTITY_ID: "light.kitchen",
+                        "execution": {
+                            "command": "action.devices.commands.OnOff",
+                            "params": {"on": True},
+                        },
+                        "source": SOURCE_LOCAL,
+                    },
+                ),
+                MockLazyEventPartialState(
+                    EVENT_COMMAND_RECEIVED,
+                    {
+                        "request_id": "abcd",
+                        ATTR_ENTITY_ID: "light.non_existing",
+                        "execution": {
+                            "command": "action.devices.commands.OnOff",
+                            "params": {"on": False},
+                        },
+                        "source": SOURCE_CLOUD,
+                    },
+                ),
+            ],
+            entity_attr_cache,
+            {},
+        )
+    )
+
+    assert len(events) == 2
+    event1, event2 = events
+
+    assert event1["name"] == "Google Assistant"
+    assert event1["domain"] == DOMAIN
+    assert event1["message"] == "sent command OnOff for The Kitchen Lights (via local)"
+    assert event1["entity_id"] == "light.kitchen"
+
+    assert event2["name"] == "Google Assistant"
+    assert event2["domain"] == DOMAIN
+    assert event2["message"] == "sent command OnOff for light.non_existing (via cloud)"
+    assert event2["entity_id"] == "light.non_existing"