Capacitor design, like anything, is probably a compromise. I worry that a cap optimized just for low esr might sacrifice something else, low leakage or long life for instance. As an example, I measured some very long life caps, 12k hours, for LED lamp use, and was surprised at the high esr, at least compared to standard caps. Thus, I tend to go for middle of the road commercial grade parts, not parts really intended for switching supplies or other targeted applications. I do derate voltage, as higher voltage caps will tend to have lower esr and be more reliable. Don't carry this too far- probably best not to use 160 volt electrolytics in 5 volt circuits! An easy test is to see if there's any series resistance in the circuit. If there is, esr pretty much irrelevant since circuit impedance dominates, though in some locations like amplifier feedback circuits, esr might be worth reducing. Those can be troublesome locations because there's no real DC voltage present. Often 6.3 volt caps are used, which have inherently high esr and poorer performance.
As an aside, people didn't talk much about esr before the advent of switching supplies. One often chooses cap value there entirely by whether it delivers the necessary low esr. For most other applications one talks in terms of dissipation factor, not esr. That tends to be more illuminating, being a ratio and very easy to compare between parts. You can calculate between the two if needed.