@Scope_rosie gave an excellent answer to a similar post:
Yes, you can claim ESA and PIP (and many people do) - ESA is paid to people who can't work because of their condition or impairment. PIP is paid to people who have difficulty doing things in their daily lives because of their condition or impairment. So people who both can't work, and also have difficulty doing daily stuff, can claim both benefits - they are for different things.
It's worth knowing that the criteria for DLA and PIP are similar, but subtly different, and (unless you were born before 1948) you will at some point be transferred to PIP and reassessed under the PIP rules, so read up on those to give yourself an idea of what's in store.
Replies
@Scope_rosie gave an excellent answer to a similar post:
It's worth knowing that the criteria for DLA and PIP are similar, but subtly different, and (unless you were born before 1948) you will at some point be transferred to PIP and reassessed under the PIP rules, so read up on those to give yourself an idea of what's in store.
CAB have a document on the PIP Descriptors, which is the points scoring system they use:
https://community.scope.org.uk/discussion/30190/can-you-claim-esa-as-well-as-pip