Your car doesn't have a "full off" selection for the ESC, only partially off. Even with the ESC light on and Mr. Squiggles light on, it's not fully disabled.
You can turn it fully off with a key trick, using a tuner or by installing a switch to disable it.
Key Trick...
http://www.chargerforums.com/forums/showthread.php?t=49079
No-ESP mod...
http://www.chargerforums.com/forums/showthread.php?t=25225
http://www.chargerforums.com/forums/showthread.php?t=152678
http://www.chargerforums.com/forums/showthread.php?t=126646
You can turn it fully off with a key trick, using a tuner or by installing a switch to disable it.
Key Trick...
http://www.chargerforums.com/forums/showthread.php?t=49079
No-ESP mod...
http://www.chargerforums.com/forums/showthread.php?t=25225
http://www.chargerforums.com/forums/showthread.php?t=152678
http://www.chargerforums.com/forums/showthread.php?t=126646