Charging and discharging 18650 batteries with TP4056 modules via their power output terminals
No  blocking  diode  is  required  due  to  the  internal  PMOSFET 
  architecture  and  have  prevent  to negative  Charge  Current 
  Circuit.


TP4056 modules do not take input current or reverse current form the circuit it is powering.

You can use one PFET as a diode to block the current from the BAT+ module pin of the ESP to the OUT+ pin of the TP4056 module. This is extra but you will be definitely sure that you are not then trying to charge the battery via USB cable used for sketch upload. Alternatively, if you can share the schematics of ESP module, we can find a way to isolate it.