welcome to the forum and congrats on your ride. It would help if you could fill out the DRIVES info on the left side (see mine) with details of what your purchased - year model AT or MT. - thanks. (it makes it much easier for us to answer questions and comments with this info)
The manual mode on the auto is just like a manual, you just up shift and down shift the same, however, it does take some control. How are you wanting to use it?
(update, just realized I answered the question wrong UBRocked as covered it, but to answer your question, the only time I have turned off ESC was if you get stuck in snow and wish to rock the car out of the rut or something similar, otherwise I leave it on. You have to try it it some slippy conditions (with no traffic around) to get an idea how it reacts with it on and off.