I think you are confusing things. Esp devices use wifi, not zigbee.
There are DIY zigbee devices though, Search the usual zigbee databases for DIY.
An esp-like device for zigbee is the z1-mini Z1-Mini zigbee development board
Also take a look around on tindie, this popped up https://www.tindie.com/products/a_lab_technology/zigbee-4-channel-relay/
But you are still going to either rely on software interlocking, or wire it right.