diff --git a/misc/server/src/behaviour.rs b/misc/server/src/behaviour.rs
index 36b18c9798d..2f8fc05bdd1 100644
--- a/misc/server/src/behaviour.rs
+++ b/misc/server/src/behaviour.rs
@@ -49,7 +49,7 @@ impl Behaviour {
             for peer in &BOOTNODES {
                 kademlia.add_address(&PeerId::from_str(peer).unwrap(), bootaddr.clone());
             }
-            kademlia.bootstrap().unwrap();
+            kademlia.bootstrap();
             Some(kademlia)
         } else {
             None
diff --git a/protocols/kad/CHANGELOG.md b/protocols/kad/CHANGELOG.md
index bd0c9857cb5..dc0a95e7104 100644
--- a/protocols/kad/CHANGELOG.md
+++ b/protocols/kad/CHANGELOG.md
@@ -17,6 +17,8 @@
   See [PR 5148](https://github.com/libp2p/rust-libp2p/pull/5148).
 - Derive `Copy` for `kbucket::key::Key<T>`.
   See [PR 5317](https://github.com/libp2p/rust-libp2p/pull/5317).
+- Always trigger a query when bootstrapping.
+  See [PR 5349](https://github.com/libp2p/rust-libp2p/pull/5349).
 
 ## 0.45.3
 
diff --git a/protocols/kad/src/behaviour.rs b/protocols/kad/src/behaviour.rs
index fb77f3c0e0f..aa5fcc186ce 100644
--- a/protocols/kad/src/behaviour.rs
+++ b/protocols/kad/src/behaviour.rs
@@ -914,13 +914,10 @@ where
     /// refreshed by initiating an additional bootstrapping query for each such
     /// bucket with random keys.
     ///
-    /// Returns `Ok` if bootstrapping has been initiated with a self-lookup, providing the
-    /// `QueryId` for the entire bootstrapping process. The progress of bootstrapping is
+    /// Returns the `QueryId` for the entire bootstrapping process. The progress of bootstrapping is
     /// reported via [`Event::OutboundQueryProgressed{QueryResult::Bootstrap}`] events,
     /// with one such event per bootstrapping query.
     ///
-    /// Returns `Err` if bootstrapping is impossible due an empty routing table.
-    ///
     /// > **Note**: Bootstrapping requires at least one node of the DHT to be known.
     /// > See [`Behaviour::add_address`].
     ///
@@ -930,7 +927,8 @@ where
     /// when a new peer is inserted in the routing table.
     /// This parameter is used to call [`Behaviour::bootstrap`] periodically and automatically
     /// to ensure a healthy routing table.
-    pub fn bootstrap(&mut self) -> Result<QueryId, NoKnownPeers> {
+    pub fn bootstrap(&mut self) -> QueryId {
+        self.bootstrap_status.on_started();
         let local_key = *self.kbuckets.local_key();
         let info = QueryInfo::Bootstrap {
             peer: *local_key.preimage(),
@@ -938,13 +936,8 @@ where
             step: ProgressStep::first(),
         };
         let peers = self.kbuckets.closest_keys(&local_key).collect::<Vec<_>>();
-        if peers.is_empty() {
-            Err(NoKnownPeers())
-        } else {
-            self.bootstrap_status.on_started();
-            let inner = QueryInner::new(info);
-            Ok(self.queries.add_iter_closest(local_key, peers, inner))
-        }
+        let inner = QueryInner::new(info);
+        self.queries.add_iter_closest(local_key, peers, inner)
     }
 
     /// Establishes the local node as a provider of a value for the given key.
@@ -2527,9 +2520,7 @@ where
 
         // Poll bootstrap periodically and automatically.
         if let Poll::Ready(()) = self.bootstrap_status.poll_next_bootstrap(cx) {
-            if let Err(e) = self.bootstrap() {
-                tracing::warn!("Failed to trigger bootstrap: {e}");
-            }
+            self.bootstrap();
         }
 
         loop {
diff --git a/protocols/kad/src/behaviour/test.rs b/protocols/kad/src/behaviour/test.rs
index 7005f39e5e6..0c27e2db71b 100644
--- a/protocols/kad/src/behaviour/test.rs
+++ b/protocols/kad/src/behaviour/test.rs
@@ -178,7 +178,7 @@ fn bootstrap() {
 
         let swarm_ids: Vec<_> = swarms.iter().map(Swarm::local_peer_id).cloned().collect();
 
-        let qid = swarms[0].behaviour_mut().bootstrap().unwrap();
+        let qid = swarms[0].behaviour_mut().bootstrap();
 
         // Expected known peers
         let expected_known = swarm_ids.iter().skip(1).cloned().collect::<HashSet<_>>();