He reached the semi-finals in the 100m at the 1960 Olympics, and the same year competed in the heats for Venezuela in the 4 X 100 m relay. A muscle strain prevented him from going to the 1964 Tokyo Olympics. He did not go beyond the heats in the 1968 Olympics 100m. Esteves competed in the 4×100 metres Relay at the 1963 Pan American Games winning a silver medal with Arquímedes Herrera, Héctor Thomas, and Rafael Romero. He finished fourth in the 100 meters at the 1963 Pan American Games.