I would certainly hope that anyone who is really worried about warranty or ESP coverage would speak directly to those who make the real decisions. That would be the MoCo in the case of the warranty, and whomever the administrator is in the case of the ESP. Listening to dealership folks who are trying to sell you modifications isn't a very good idea, and thinking a bunch of strangers on the internet will give you the straight and legally enforceable scoop isn't either.
Sinker, if you are that worried about warranty coverage then you need to leave the bike alone and just ride it. When you reach the point you aren't happy with the current performance levels, then you need to assess your tolerance for risk, kind of like when making decisions on what stocks or funds to include in your 201k (used to be 401k). If you have no tolerance for risk, then stick with the stock bike and the FDIC insured money market fund. If you are the type that doesn't care about risk, then go nuts with heads, cams, throttle bodies, bigger bore and stroke, nitrous, etc., and jump into commodities. Or if you're like most people and fit somewhere in the middle, you might try simple and easily reversible mods on the bike and a nice balanced mix of stock funds, bond funds, and interest bearing accounts for the 201k. And if you make it through the factory warranty period unscathed, you can decide if you want to get a refund on that ESP and apply it toward some major mods.

Jerry