If you have a 24VAC source like from the valve actuator, you can use this type of relay.
When the valve gets 24 VAC to turn, the relay will activate.
https://www.digikey.com/en/products/detail/american-zettler/AZ2800-2C-24AE/12171646
If you have a 24 VDC source, you can use a relay like...