I'm not disagreeing with the advice, but (for conversation's sake) I wouldn't go as far as to say I'm not in control most of the time.
As badass as it'd be, It's not like I'm accidentally doing a reverse entry into every corner. With the ESP on, there is just sometimes a little slip for a fraction of a second if the surface isn't great, nothing out of control, and I wouldn't say unsafe, because I'm always half-expecting it and ready to deal with it.
Having to swerve and stopping distances are another matter as Dan rightly points out. That being said, a crash can sometimes be unavoidable no matter how good your tyres are, though I agree better (and matched) tyres will reduce the risk significantly.
I'm only running the OEM Rays (18" I believe).