VIM: Doesn't VIM 'replace' use of CTRL with ESC?

It is usually advertised that using VIM alleviates the need of moving the hand away from home row. However, it seems that instead of going to CTRL, I am stretching my hand to ESC all the time.
Note: I am a new vim user and I am trying to migrate from Notepad (windows) to VIM. I am asking this question, in case there is some issue in my use or understanding of VIM philosophy.