A system according to the principles of the present disclosure includes an engine actuator control module and at least one of a valve lift control module and a cylinder activation module. The valve lift control module adjusts a target lift state of a valve actuator of an engine to adjust an amount by which at least one of an intake valve of a cylinder of the engine and an exhaust valve of the cylinder is lifted from a valve seat. The cylinder activation module determines a target number of activated cylinders in the engine. The engine actuator control module that controls a first actuator of the engine at a present time based on at least one of the target lift state at a future time and the target number of activated cylinders at the future time. The first actuator is different than the valve actuator.