diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/task/TaskSchedulingAutoConfiguration.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/task/TaskSchedulingAutoConfiguration.java
index 84f7bf412bfc..a5dd93bf4f44 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/task/TaskSchedulingAutoConfiguration.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/task/TaskSchedulingAutoConfiguration.java
@@ -54,6 +54,7 @@ public ThreadPoolTaskScheduler taskScheduler(TaskSchedulerBuilder builder) {
 	}
 
 	@Bean
+	@ConditionalOnBean(name = TaskManagementConfigUtils.SCHEDULED_ANNOTATION_PROCESSOR_BEAN_NAME)
 	public static LazyInitializationExcludeFilter scheduledBeanLazyInitializationExcludeFilter() {
 		return new ScheduledBeanLazyInitializationExcludeFilter();
 	}
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/task/TaskSchedulingAutoConfigurationTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/task/TaskSchedulingAutoConfigurationTests.java
index 65257736d086..e43706898768 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/task/TaskSchedulingAutoConfigurationTests.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/task/TaskSchedulingAutoConfigurationTests.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2021 the original author or authors.
+ * Copyright 2012-2022 the original author or authors.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -61,6 +61,12 @@ void noSchedulingDoesNotExposeTaskScheduler() {
 		this.contextRunner.run((context) -> assertThat(context).doesNotHaveBean(TaskScheduler.class));
 	}
 
+	@Test
+	void noSchedulingDoesNotExposeScheduledBeanLazyInitializationExcludeFilter() {
+		this.contextRunner.run(
+				(context) -> assertThat(context).doesNotHaveBean(ScheduledBeanLazyInitializationExcludeFilter.class));
+	}
+
 	@Test
 	void enableSchedulingWithNoTaskExecutorAutoConfiguresOne() {
 		this.contextRunner