A startup/shutdown control module selectively generates an engine startup command when an engine of the vehicle is off. A starter control module applies power to a starter motor when the engine startup command is generated. A valve control module, in response to the generation of the engine startup command: operates intake valves of cylinders of the engine in a low lift mode when an engine temperature is less than a predetermined temperature; and operates the intake valves of the cylinders of the engine in a high lift mode when the engine temperature is greater than the predetermined temperature.