Yup, I drive like you said but its the bit where I want to accelerate out of the corner while still steering a bit that doesn't happen.
If I accelerate while still steering I don't get an acceleration untill the steering wheel is straight which is a PITA for getting around corners quickly!!
That's FWD for you! The wheels are steering as well as taking the torque from the engine, which will always result in loss of speed around a corner.
Regarding ESP, I believe that the button only turns off the TC. ESP is always on as a safety measure. The button says ESP simply to show that the car has this feature.
I don't think you'd notice the ESP unless you do something wrong, whereas TC is useless in all but very wet conditions and driver skill will always be better than TC in my opinion.