I bought the 6 yr/100K Premium Maintenance plan and the Premium 7 yr/100K ESP for my 09 F350 6.4 CC LB 4x4 for reasons similar to yours.
I wanted to protect my investment and I planned to make sure all the maintenance work was done and documented to assure:
A. that the truck was well cared, and
B. that my warranties (standard and extended) were guaranteed to cover whatever went wrong.
Part of my reasoning was that while my truck (built Feb 2009) might have escaped some of the early problems (radiator, etc.) that early buyers of the 6.4 experienced, the emissions technology seemed still fairly new and potentially prone to problems and the problems, if they occurred, were expensive (and potentially catastrophically expensive.) I didn't want to face something like that at mile 36,001 or on day one of month 37.
I also didn't want to have any questions about whether the required maintenance had been done if something went wrong with the truck. If something goes wrong I expect to be able to take it to a Ford dealer and essentially say "It's your problem, fix it."
If I'd had to pick one or the other I'd pick the ESP to ensure the truck was warranted for a longer period because they are so complicated and expensive to fix when something goes wrong. After reading what other owners have paid for various problems they've encountered it seemed like cheap insurance.
In my case I wanted the Premium Maintenance plan because I am not set up to perform the maintenance myself and I want to be sure it is done and documented. And, after reading what the going rates were for oil changes, fuel filters, and other required maintenance work (and considering what I'd paid the dealer for work on my other truck) and comparing those to the work required to assure the warranties were protected, the Premium maintenance plan seemed like a cheaper way to go.
I did a tremendous amount of research - getting quotes from more than 30 different dealers around the country (and Ford corporate) before buying my plans. I ultimately bought both plans from Troy Dietrich (FD-Warranty.com/Ford of Greeenfield, MA) because he was direct, honest, easy to deal with and would meet the best quote I got. But I got good quotes from two other sources. (see this thread for info on my experience:
Report on New 09 F350 6.4 Mileage, Regen, etc..
My Premium Maintenance plan was $2230, so while your dealer's quote is not too bad you can get it cheaper - either by buying elsewhere or negotiating with the dealer. If your dealer is good to work with they should be able to meet the price I paid. They are still making a profit and they have complete freedom to negotiate the price.
For me, the Premium ESP and maintenance plans were a good deal. I'll probably pay substantially less than I would otherwise pay for required maintenance work and I'll have documentation that guarantees there won't be any argument about whether the maintenance work was done if I need to have warranty work done. If I have a need for significant warranty work after the standard warranty period the ESP will probably be paid for with the first significant problem. Cheap insurance - and basically the ESP IS insurance.
It means I'll have to keep the truck stock but that's not a problem for me.
I also plan to keep the truck for the long haul but the warranties and maintenance plans are transferrable if I decide to sell the truck and I figure they'd be good selling points to assure someone the truck was well cared for and they could protect their investment.