Hi. I think the ESP can be switched on and off using the menu in the on board computer, controlled from the left hand stalk. It may just be that. Have a look in your handbook for the instructions. If that doesn't get rid of it, there's no harm in going back to the dealers and asking about it. They'll be able to set you right (Hopefully) and if something is amiss, you'll get it sorted.
2008 2.0 TDCi Zetec