Esquiva is probably the first dodge you ever learned. It is a standard part of what you do as a capoeirista every time you play.
Here are some things to check with your form to make sure you're getting the most out of this dodge.
Important: keep your weight centered between your feet. As you twist your body away from the kick, shift your hips in the opposite direction. So if you twist right, your hips go left for the purpose of keeping your weight in the middle.
Protect your head!
Point your front elbow toward oncoming kicks and attacks.
Turn your head sideways (parallel with the floor).