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To have Income Related ESA added to your ESA(CB) you will need to complete an ESA3 form which captures information about your financial information. There is not a usable ESA3 for download but the following is a link to a sample one.
www.whatdotheyknow.com/request/136119/re...ch/3/ESA3%201012.pdf Be aware, you became eligible for ESA(IR), at least in principle, once your savings dropped below £16,000, so it would be worth your while seeing if you can backdate the payments.
Whilst you will be entitled to full Housing Benefit if you receive ESA(IR) that does not mean that you are not entitled now, contact your Local Authority.
Free Prescriptions, dental care, etc. require you to actually be receiving ESA(IR).
Gordon