What is the difference between a ceramic capacitor of the same dielectric, but different voltage rating?
ESL is almost entirely determined by lead inductance, so the size and type of the package determine this value.

ESR is a function of many things, but one of them is dielectric thickness, as thickness increases so does ESR.  

Voltage rating is a function of dielectric strength and thickness.

So, if a package size is fixed, say both 0805, you should expect the same or extremely close ESL, while the dielectric strength or thickness would need to have increased to increase the voltage rating, so ESR would be higher.  

This isn't a firm rule, remember that ESR varies with frequency.