ESP = EFI partition, is the place that Clover will be.
When you run Clover installer, it will ask you if you want to install Clover at your HDD partition or ESP(EFI), just check this option and install it.
Look, here is a good guide to how install Clover:
https://Olarila.com/forum/viewtopic.php?f=79&t=6685
Note: In your hardware you'll install using UEFI way!!!