diff --git a/airflow-core/src/airflow/config_templates/config.yml b/airflow-core/src/airflow/config_templates/config.yml
index 24d769c11ecf4..e2d8ca4f0c638 100644
--- a/airflow-core/src/airflow/config_templates/config.yml
+++ b/airflow-core/src/airflow/config_templates/config.yml
@@ -1428,6 +1428,42 @@ workers:
       sensitive: true
       example: ~
       default: ""
+    min_heartbeat_interval:
+      description: |
+        The minimum interval (in seconds) at which the worker checks the task instance's
+        heartbeat status with the API server to confirm it is still alive.
+      version_added: 3.0.0
+      type: integer
+      example: ~
+      default: "5"
+    max_failed_heartbeats:
+      description: |
+        The maximum number of consecutive failed heartbeats before terminating the task instance process.
+      version_added: 3.0.0
+      type: integer
+      example: ~
+      default: "3"
+    execution_api_retries:
+      description: |
+        The maximum number of retry attempts to the execution API server.
+      version_added: 3.0.0
+      type: integer
+      example: ~
+      default: "5"
+    execution_api_retry_wait_min:
+      description: |
+        The minimum amount of time (in seconds) to wait before retrying a failed API request.
+      version_added: 3.0.0
+      type: float
+      example: ~
+      default: "1.0"
+    execution_api_retry_wait_max:
+      description: |
+        The maximum amount of time (in seconds) to wait before retrying a failed API request.
+      version_added: 3.0.0
+      type: float
+      example: ~
+      default: "90.0"
 api_auth:
   description: Settings relating to authentication on the Airflow APIs
   options:
diff --git a/task-sdk/src/airflow/sdk/api/client.py b/task-sdk/src/airflow/sdk/api/client.py
index ff4219af14dc4..367ba7b1c66f6 100644
--- a/task-sdk/src/airflow/sdk/api/client.py
+++ b/task-sdk/src/airflow/sdk/api/client.py
@@ -18,7 +18,6 @@
 from __future__ import annotations
 
 import logging
-import os
 import sys
 import uuid
 from http import HTTPStatus
@@ -32,6 +31,7 @@
 from tenacity import before_log, wait_random_exponential
 from uuid6 import uuid7
 
+from airflow.configuration import conf
 from airflow.sdk import __version__
 from airflow.sdk.api.datamodels._generated import (
     API_VERSION,
@@ -489,13 +489,10 @@ def noop_handler(request: httpx.Request) -> httpx.Response:
     return httpx.Response(200, json={"text": "Hello, world!"})
 
 
-# Config options for SDK how retries on HTTP requests should be handled
 # Note: Given defaults make attempts after 1, 3, 7, 15 and fails after 31seconds
-# So far there is no other config facility in SDK we use ENV for the moment
-# TODO: Consider these env variables while handling airflow confs in task sdk
-API_RETRIES = int(os.getenv("AIRFLOW__WORKERS__API_RETRIES", 5))
-API_RETRY_WAIT_MIN = float(os.getenv("AIRFLOW__WORKERS__API_RETRY_WAIT_MIN", 1.0))
-API_RETRY_WAIT_MAX = float(os.getenv("AIRFLOW__WORKERS__API_RETRY_WAIT_MAX", 90.0))
+API_RETRIES = conf.getint("workers", "execution_api_retries")
+API_RETRY_WAIT_MIN = conf.getfloat("workers", "execution_api_retry_wait_min")
+API_RETRY_WAIT_MAX = conf.getfloat("workers", "execution_api_retry_wait_max")
 
 
 class Client(httpx.Client):
diff --git a/task-sdk/src/airflow/sdk/execution_time/supervisor.py b/task-sdk/src/airflow/sdk/execution_time/supervisor.py
index b93aff512ab45..860756fa06a6a 100644
--- a/task-sdk/src/airflow/sdk/execution_time/supervisor.py
+++ b/task-sdk/src/airflow/sdk/execution_time/supervisor.py
@@ -52,6 +52,7 @@
 import structlog
 from pydantic import TypeAdapter
 
+from airflow.configuration import conf
 from airflow.sdk.api.client import Client, ServerResponseError
 from airflow.sdk.api.datamodels._generated import (
     AssetResponse,
@@ -109,13 +110,10 @@
 
 log: FilteringBoundLogger = structlog.get_logger(logger_name="supervisor")
 
-# TODO: Pull this from config
-#  (previously `[scheduler] task_instance_heartbeat_sec` with the following as fallback if it is 0:
-#  `[scheduler] task_instance_heartbeat_timeout`)
-HEARTBEAT_TIMEOUT: int = 30
+HEARTBEAT_TIMEOUT: int = conf.getint("scheduler", "task_instance_heartbeat_timeout")
 # Don't heartbeat more often than this
-MIN_HEARTBEAT_INTERVAL: int = 5
-MAX_FAILED_HEARTBEATS: int = 3
+MIN_HEARTBEAT_INTERVAL: int = conf.getint("workers", "min_heartbeat_interval")
+MAX_FAILED_HEARTBEATS: int = conf.getint("workers", "max_failed_heartbeats")
 
 # These are the task instance states that require some additional information to transition into.
 # "Directly" here means that the PATCH API calls to transition into these states are