diff --git a/belay/device.py b/belay/device.py
index d2565cf..64d5fc0 100644
--- a/belay/device.py
+++ b/belay/device.py
@@ -745,7 +745,7 @@ def setup(
         """  # noqa: D400
         if f is None:
             return wraps_partial(Device.setup, autoinit=autoinit, **kwargs)  # type: ignore[reportGeneralTypeIssues]
-        if signature(f).parameters:
+        if signature(f).parameters and autoinit:
             raise ValueError(
                 f"Method {f} decorated with "
                 '"@Device.setup(autoinit=True)" '
diff --git a/tests/integration/test_classes.py b/tests/integration/test_classes.py
index 3f000bf..992d3a8 100644
--- a/tests/integration/test_classes.py
+++ b/tests/integration/test_classes.py
@@ -33,6 +33,30 @@ def get_times_bar(val):
         assert 84 == device.get_times_bar(2)
 
 
+def test_classes_setup_arguments(emulate_command):
+    class MyDevice(Device, skip=True):
+        @Device.setup
+        def setup1(baz=1):
+            foo = 11  # noqa: F841
+            bar = 41  # noqa: F841
+
+        @Device.setup()
+        def setup2(baz=2):
+            foo = 12  # noqa: F841
+            bar = 42  # noqa: F841
+
+    with MyDevice(emulate_command) as device:
+        device.setup1(baz=111)
+        assert device("foo") == 11
+        assert device("bar") == 41
+        assert device("baz") == 111
+
+        device.setup2(baz=222)
+        assert device("foo") == 12
+        assert device("bar") == 42
+        assert device("baz") == 222
+
+
 def test_classes_setup_autoinit(emulate_command):
     class MyDevice(Device, skip=True):
         @Device.setup(autoinit=True)
diff --git a/tests/integration/test_function_decorators.py b/tests/integration/test_function_decorators.py
index d1dd557..28a89e7 100644
--- a/tests/integration/test_function_decorators.py
+++ b/tests/integration/test_function_decorators.py
@@ -1,6 +1,7 @@
 import pytest
 
 import belay
+from belay import Device
 
 
 def test_setup_basic(emulated_device):
@@ -77,3 +78,24 @@ def foo():
     emulated_device.close()
 
     mock_teardown.assert_called_once()
+
+
+def test_classdecorator_setup():
+    @Device.setup
+    def foo1():
+        pass
+
+    @Device.setup()
+    def foo2():
+        pass
+
+    @Device.setup(autoinit=True)
+    def foo3():
+        pass
+
+    with pytest.raises(ValueError):
+        # Provided an arg with autoinit=True is not allowed.
+
+        @Device.setup(autoinit=True)
+        def foo(arg1=1):
+            pass