How should I drive a chip where I need to pull pins low in order to enable
-0.5v - 7v


That's from the "Absolute Maximum Ratings" section of the datasheet.
Ignore that and pretend you didn't see it - it's not relevant to you unless you're trying to push the poor chip past it's normal operating limits.  

The part of the datasheet you're interested in is a little lower down in the "DC Electrical Characteristics" table.
There you'll see entries for "HIGH Level Input Voltage" and "LOW Level Input Voltage" - these are the voltage thresholds which you need to reach for the IC to reliably register an input as either High or Low.
So in this case, you'll need to apply at least 2V for High, and no more than 0.8V for Low.  

If your ESP device provides close to 3.3V as a High, and close to 0V as a low, it'll work just fine.