ESAs DO NOT have public access rights. This show is incredibly offensive to the disabled community. There is a place in the world for ESAs and people can benefit from them... but this show spreads misinformation. It is incredibly wrong to show people that this is acceptable behavior.
A service dog is defined as a task trained animal used to mitigate the disabilities of a handler. They are highly trained animals that specialize in specified needs for a DISABLED individual. Visit ADA.gov for more information.