Wrong. If going in a right hander and the rear end start swinging to the left, the ESP will apply (among other things) the right rear brakes to pull you back on track.
It would be interesting to see the programming and modelling on ESP systems. It has very little information to make its decisions on when you think about it. I only really have time on our Outback in snow and gravel around 30-40mph and as far as I can tell it just brakes the front outside tire and kills power when you start getting fun drift angles while on the throttle, and it often does it a bit late after I've already counter steered which isn't really helping anymore, and just makes you prone to snapping the other way if you over counter steer.
In your example, on many cars with good tires on pavement ,the inside rear tire may have nearly no weight on it at all before the back end comes around, especially if the driver has already chopped the throttle mid corner... IMHO there's nothing good ESP can do with the rear brakes at that point, I'd think the best strategy would be to lock the outside front tire and let off any brakes on the rear. I have seen ESP do some weird stuff on a CTS-V at autocross too, like alternatively locking the inside front tire while under power in a slalom... He eventually just shut it all off and learned to drive smoother and faster and had more fun than fighting the nannies.
I read ESP works pretty well on a track in some cars, but is that for every car on every surface? I don't know. I have a bit of experience at autocross and no one fast I've ridden with keeps the TC or ESP active because it gives slower times, and kicks in to late, or just kills the power and takes forever to disengage. For new drivers with faster cars it is a good to leave the nannies on, as just the power cut alone when things are getting squirrely, is a good thing to let them regroup and get back to smoother driving on the racing line.
I think once ESP is fed road and obstacle information from onboard cameras or radar, it will have alot more information to run better models and make better decisions. The final step is taking over the steering which should make silly crashes like this Hellcat one, very hard to do if you tried. But I think the legal barriers to this are a bit too high yet.