The ESTA is a travel authorization that we must complete before traveling to the United States of America. Foreigners traveling with a visa must complete the I-94 form upon arrival in the US By plane. It is not mandatory for those who take advantage of the VWP and are in possession of the ESTA permit. You have all the information in: «Requirements to travel to the United States: visa and apply for ESTA«.
You have all the information in: "Requirements to travel to the United States: visa and apply for ESTA".