Hi Wirralguy
Welcome to the forum.
You might want to have a look at the following FAQ which explains where everything is;
www.benefitsandwork.co.uk/guides-for-claimants/faq/forum.
You need to get your timing right and apply for UC after you have received your ESA.
When you apply for UC your legacy benefits will stop (ESA and HB) you should be placed straight in to the LCWRA element.
When you claim UC you can get a housing element if you have to claim any housing costs.
Most claimants coming from ESA who receive disability premiums such as SDP and EDP will be worse off claiming UC, providing you claim by 12th June then you should get TP and you should not be worse off.
It is only natural to feel anxious when applying for something new, try not to over think things. Let us know how you get on.
Gary