Esteves married Guadalupe Navarro, with whom he had four children, Raúl, Roberto, Marisol and Vernon. Esteves also helped establish the first two theaters in Aguadilla, his hometown, with the help of fellow community leader Juan Garcia. On April 30, 1957, Esteves retired from service due to health concerns. On March 12, 1958, Esteves died in Santurce as a complication of these issues. His remains are interred in Cementerio Histórico Urbano de Aguadilla. On August 24, 1958, the PRNG's Armory was re-baptized in his honor. On May 11, 1962, Division General Juan Cordero dedicated a speech to him during the re-inauguration of the PRNG's Military Museum.