We derive lower bounds for the Higgs-curvature coupling from vacuum stability during inflation in three inflationary models: quadratic and quartic chaotic inflation, and Starobinsky-like power-law inflation. In contrast to most previous studies we take the time-dependence of the Hubble rate into account both in the geometry of our past light-cone and in the Higgs effective potential, which is approximated with three-loop renormalisation group improvement supplemented with one-loop curvature corrections. We find that in all three models, the lower bound is ξ≳ 0.051... 0.066 depending on the top quark mass. We also demonstrate that vacuum decay is most likely to happen a few e-foldings before the end of inflation.