Physical Unclonable Functions (PUFs) are widely used to authenticate electronic devices because they take advantage of random variations in the manufacturing process that are unique to each device and cannot be cloned. Therefore, each device can be uniquely identified and counterfeit devices can be detected. Weak PUFs, which support a relatively small number of challenge-response pairs (CRPs), are simple and easy to construct. Device authentication with weak PUFs typically uses helper data to obfuscate and recover a cryptographic key that is then required by a cryptographic authentication scheme. However, these schemes are vulnerable to helper-data attacks and many of them do not protect conveniently the PUF responses, which are sensitive data, as well as are not resistant to attacks performed by quantum computers. This paper proposes an authentication scheme that avoids the aforementioned weaknesses by not using helper data, protecting the PUF response with a quantum-safe homomorphic encryption, and by using a two-server setup. Specifically, the CRYSTALS-Kyber public key cryptographic algorithm is used for its quantum resistance and suitability for resource-constrained Internet-of-Things (IoT) devices. The practicality of the proposal was tested on an ESP32 microcontroller using its internal SRAM as a SRAM PUF. For PUF responses of 512 bits, the encryption execution time ranges from 16.41 ms to 41.08 ms, depending on the desired level of security. In terms of memory, the device only needs to store between 800 and 1,568 bytes. This makes the solution post-quantum secure, lightweight and affordable for IoT devices with limited computing, memory, and power resources.