diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 6e1ad3e481..18445d6b6c 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -15,7 +15,7 @@ class CarState(CarStateBase):
     self.crz_btns_counter = 0
     self.acc_active_last = False
     self.low_speed_alert = False
-    self.lkas_allowed_speed = False
+    self.lkas_allowed_speed = True
     self.lkas_disabled = False
 
   def update(self, cp, cp_cam):
@@ -70,10 +70,8 @@ class CarState(CarStateBase):
       # wait for LKAS_BLOCK signal to clear when going up since it lags behind the speed sometimes
       if speed_kph > LKAS_LIMITS.ENABLE_SPEED and not lkas_blocked:
         self.lkas_allowed_speed = True
-      elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
+      elif speed_kph < LKAS_LIMITS.DISABLE_SPEED or lkas_blocked:
         self.lkas_allowed_speed = False
-    else:
-      self.lkas_allowed_speed = True
 
     # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
     #       it should be used for carState.cruiseState.nonAdaptive instead