Background: Antiretroviral (ARV) therapy is essential for people living with HIV(PLHIV) to control viral replication and maintain long-term health. However, maintaining adherence to ARV therapy remains a challenge. Self-efficacy, defined as an individual's confidence in their ability to perform health-related behaviors, may play an important role in maintaining consistent adherence to ARV medication. Purpose: This study aimed to determine the relationship between self-efficacy and adherence to ARV medication among people living with HIV at Yayasan Cahaya Kasih Peduli WPA Turen, Malang Regency, Indonesia. Methods: This study used a quantitative descriptive-analytic design with a cross-sectional approach. The study involved 70 PLHIV selected using purposive sampling. Data were collected using a self-efficacy questionnaire and an ARV medication adherence questionnaire. Self-efficacy was categorized as high or low based on the instrument's predetermined cut-off score, while ARV adherence was categorized as adherent or non-adherent based on the adherence instrument's predetermined cut-off score. Data were analyzed using univariate and bivariate analyses, with statistical significance set at p≤0.05. Results: Of the 70 respondents, 48 (68.6%) had high self-efficacy and 22 (31.4%) had low self-efficacy. A total of 52 respondents (74.3%) were adherent to ARV therapy, while 18 (25.7%) were non-adherent. Among respondents with high self-efficacy, 42 (87.5%) were adherent and 6 (12.5%) were non-adherent, compared with 10 (45.5%) adherent and 12 (54.5%) non-adherent among those with low self-efficacy. Statistical analysis demonstrated a significant relationship between self-efficacy and ARV adherence (p=0.001). Respondents with high self-efficacy had seven times greater odds of adhering to ARV therapy than those with low self-efficacy (OR=7.00; 95% CI=2.20–22.28). Conclusions: Self-efficacy was significantly associated with ARV medication adherence among PLHIV at Yayasan Cahaya Kasih Peduli WPA Turen. Strengthening self-efficacy through continuous counseling, education, peer support, and community-based assistance may support sustained adherence to ARV therapy. Further longitudinal and intervention studies are recommended to determine the effectiveness of self-efficacy-based approaches in improving long-term ARV adherence.